Mr. Pavel-Dumitru Cernelev Profile

Pavel-Dumitru Cernelev

at Queen's Univ

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Proceedings Article | 3 April 2023 Presentation + Paper

Determining boundaries of accurate tracking for electromagnetic sensors

Pavel-Dumitru Cernelev, Kristof Moga, Leah Groves, Tamás Haidegger, Gabor Fichtinger, Tamas Ungi

Proceedings Volume 12466, 124661L (2023) https://doi.org/10.1117/12.2654428

KEYWORDS: Sensors, Optical tracking, Electromagnetism, Surgery, Transmitters, 3D tracking, Visualization, Tissues, Telecommunications, Breast

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Image-guided therapies are reliant on the spatial tracking of surgical tools for navigation. Ensuring that tracking is non-intrusive and accurate is therefore important. As tracking sensors become smaller, it is important to determine their effective range in comparison to the sensors that have been previously evaluated. We tested three different electromagnetic sensor sizes in the context of a surgical navigation system. Three different sized electromagnetic sensors were tested for tracking accuracy using optical tracking as the ground truth. An algorithm was developed to calculate the error between the data collected from the electromagnetic sensors with respect to the ground-truth measurements. Contours were generated to visualize the areas where tracking error is under certain threshold values. Multiple contours from electromagnetic sensors of different sizes were generated. To reduce noise in the measurements, repeated results were averaged. Results: The 8 mm and 2 mm length sensors performed comparably, both within acceptable error in the center of the tracking system’s workspace (50 cm away from the transmitter). The accuracy of the 0.5 mm sensor was acceptable up to 40 cm away from the transmitter. A distance greater than 20 cm led to a loss of consistent accuracy from the electromagnetic sensor. The 8 mm sensor and the 2 mm sensor shared similar iso-surface volumes, establishing that the 8 mm sensor could be substituted for the 2 mm sensor, which would be clinically beneficial typically. This would allow for electromagnetic sensors to be less intrusive in the operating room when tracking surgical and percutaneous intervention tools. The 0.5 mm sensor was not able to present the clinical required accuracy ranges.

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