Adaptive fiducial-free registration using multiple point selection for real-time electromagnetically navigated endoscopy

Xiongbiao Luo; Kensaku Mori

doi:10.1117/12.2043388

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12 March 2014 Adaptive fiducial-free registration using multiple point selection for real-time electromagnetically navigated endoscopy

Xiongbiao Luo, Kensaku Mori

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Proceedings Volume 9036, Medical Imaging 2014: Image-Guided Procedures, Robotic Interventions, and Modeling; 90360A (2014) https://doi.org/10.1117/12.2043388
Event: SPIE Medical Imaging, 2014, San Diego, California, United States

Abstract

This paper proposes an adaptive fiducial-free registration method that uses a multiple point selection strategy based on sensor orientation and endoscope radius information. To develop a flexible endoscopy navigation system, since we use an electromagnetic tracker with positional sensors to estimate bronchoscope movements, we must synchronize such tracker and pre-operative image coordinate systems using either marker-based or fiducial-free registration methods. Fiducial-free methods assume that bronchoscopes are operated along bronchial centerlines. Unfortunately, such an assumption is easily violated during interventions. To address such a tough assumption, we utilize an adaptive strategy that generates multiple points in terms of sensor measurements and bronchoscope radius information. From these generated points, we adaptively choose the optimal point, which is the closest to its assigned bronchial centerline, to perform registration. The experimental results from phantom validation demonstrate that our proposed adaptive strategy significantly improved the fiducial-free registration accuracy from at least 5.4 to 2.2 mm compared to current available methods.

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Xiongbiao Luo and Kensaku Mori "Adaptive fiducial-free registration using multiple point selection for real-time electromagnetically navigated endoscopy", Proc. SPIE 9036, Medical Imaging 2014: Image-Guided Procedures, Robotic Interventions, and Modeling, 90360A (12 March 2014); https://doi.org/10.1117/12.2043388

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