Real-time motion compensation for EM bronchoscope tracking with smooth output - ex-vivo validation

Tobias Reichl; Ingmar Gergel; Manuela Menzel; Hubert Hautmann; Ingmar Wegner; Hans-Peter Meinzer; Nassir Navab

doi:10.1117/12.911192

17 February 2012 Real-time motion compensation for EM bronchoscope tracking with smooth output - ex-vivo validation

Tobias Reichl, Ingmar Gergel, Manuela Menzel, Hubert Hautmann, Ingmar Wegner, Hans-Peter Meinzer, Nassir Navab

Proceedings Volume 8316, Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling; 83163A (2012) https://doi.org/10.1117/12.911192
Event: SPIE Medical Imaging, 2012, San Diego, California, United States

Abstract

Navigated bronchoscopy provides benefits for endoscopists and patients, but accurate tracking information is needed. We present a novel real-time approach for bronchoscope tracking combining electromagnetic (EM) tracking, airway segmentation, and a continuous model of output. We augment a previously published approach by including segmentation information in the tracking optimization instead of image similarity. Thus, the new approach is feasible in real-time. Since the true bronchoscope trajectory is continuous, the output is modeled using splines and the control points are optimized with respect to displacement from EM tracking measurements and spatial relation to segmented airways. Accuracy of the proposed method and its components is evaluated on a ventilated porcine ex-vivo lung with respect to ground truth data acquired from a human expert. We demonstrate the robustness of the output of the proposed method against added artificial noise in the input data. Smoothness in terms of inter-frame distance is shown to remain below 2 mm, even when up to 5 mm of Gaussian noise are added to the input. The approach is shown to be easily extensible to include other measures like image similarity.

Citation Download Citation

Tobias Reichl, Ingmar Gergel, Manuela Menzel, Hubert Hautmann, Ingmar Wegner, Hans-Peter Meinzer, and Nassir Navab "Real-time motion compensation for EM bronchoscope tracking with smooth output - ex-vivo validation", Proc. SPIE 8316, Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling, 83163A (17 February 2012); https://doi.org/10.1117/12.911192

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