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Published on: March 12, 2021
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Real-time bronchoscope three-dimensional motion estimation using multiple sensor-driven alignment of CT images and
1Information and Communications Headquarters, Nagoya University, Japan; Robarts Research Institute, Western University, Canada.
Summary
This study introduces a novel fiducial-free registration method for bronchoscopes using multiple electromagnetic sensors. This approach enhances 3D motion estimation accuracy and reduces alignment errors in navigation systems.
Area of Science:
- Medical Imaging
- Robotics
- Biomedical Engineering
Background:
- Bronchoscope 3D motion estimation is crucial for bronchoscopic navigation systems.
- Electromagnetic trackers are used for surgical tool navigation in pre-clinical imaging.
- Aligning electromagnetic trackers to pre-clinical images is a necessary step before navigation.
Purpose of the Study:
- To propose a multiple sensor-driven registration method for aligning electromagnetic trackers to pre-clinical images without anatomical fiducials.
- To overcome limitations of current fiducial-free registration methods that rely on initialization and specific bronchoscope manipulation.
Main Methods:
- Utilized measurements from multiple electromagnetic sensors to calculate bronchoscope geometric center positions.
- Calculated positions are closer to bronchial centerlines than direct sensor measurements.
- Validated the method on a bronchial phantom.
Main Results:
- The multiple sensor-driven registration method proved effective for fiducial-free alignment.
- Reduced fiducial alignment error from at least 6.79 mm to 4.68-5.26 mm.
- Improved motion estimation/tracking accuracy from at least 5.42 mm to 3.78-4.53 mm.
Conclusions:
- Using multiple sensors to determine bronchoscope geometric center positions is effective for fiducial-free registration.
- The proposed method significantly enhances accuracy in bronchoscope 3D motion estimation.
- This advancement is beneficial for developing more reliable bronchoscopic navigation systems.
