A navigation system of cerebral endovascular surgery integrating multiple space-guiding trackers

In this paper, a navigation system combining multiple space-guiding trackers is proposed for cerebral endovascular surgery. This system not only provides 2-D and 3-D visualization of medical images but also integrates an ICP-based algorithm to increase the registration accuracy during cerebral endovascular navigation. This tracking system integrates a mechanical digitizer, an optical tracker and an electromagnetic sensor to increase the flexibility in clinical application. An ICP-based registration algorithm is proposed to dynamically correct the registration error according to the current observation of the cerebral endovascular. To evaluate the system performance, a plastic phantom with cerebral endovascular structures is used and the experimental results show that the localization error is significantly reduced from 5.21 approximately 6.47mm to 2.29 approximately 2.87mm using the proposed scheme.