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Quantitative evaluation for accumulative calibration error and video-CT registration errors in

Sheena Xin Liu¹, Luis F Gutiérrez, Doug Stanton

¹Department of Interventional Guidance Technology, Philips Research North America, Briarcliff Manor, New York, NY 10510, USA. sheena.liu@philips.com

International Journal of Computer Assisted Radiology and Surgery

|August 18, 2010

Summary

This study introduces a new system to evaluate electromagnetic (EM)-guided endoscopy accuracy. The system quantifies accumulated errors for improved intra-operative performance in minimally invasive procedures.

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Area of Science:

Medical Imaging
Surgical Navigation Systems
Minimally Invasive Interventions

Background:

Electromagnetic (EM)-guided endoscopy is crucial for minimally invasive procedures.
Accurate system evaluation is vital for clinical adoption.
Previous research focused on calibration, not integrated system errors.

Purpose of the Study:

To develop and validate a novel system for evaluating the accumulated errors of EM-guided endoscopy.
To quantify intra-operative procedural accuracy using a 3D metric.

Main Methods:

A portable EM-tracked endoscopy system was designed and calibrated.
An evaluation scheme integrated EM-CT registration for real-time data fusion.
Accuracy was assessed using an anatomical phantom with internal fiducials, comparing CT, EM, and endoscopic image spaces.

Main Results:

The mean in-plane error was approximately 2 pixels.
Target registration error (TRE) was measured as the 3D Euclidean distance between endoscopic and CT targets.
TRE encompasses EM-CT registration, EM-tracking, fiducial localization, and optical-EM calibration errors.

Conclusions:

A novel calibration method and virtual navigation evaluation system were presented.
The system quantifies overall errors in intra-operative data integration for EM-guided endoscopy.
This phantom provides insights into systematic errors and quality control for preclinical endoscopic procedures.