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Simultaneous Electromagnetic Tracking and Calibration for Dynamic Field Distortion Compensation.

Hossein Sadjadi, Keyvan Hashtrudi-Zaad, Gabor Fichtinger

    IEEE Transactions on Bio-Medical Engineering
    |November 24, 2015
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    Summary

    Electromagnetic (EM) tracking systems suffer from field distortions, causing significant errors. This study introduces a novel real-time compensation method using sensor fusion and simultaneous localization and mapping to enhance EM tracking accuracy in clinical settings.

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    Area of Science:

    • Medical instrumentation
    • Robotics and Automation
    • Surgical Navigation

    Background:

    • Electromagnetic (EM) tracking systems are crucial for medical navigation but are susceptible to field distortions.
    • Interference in clinical environments can lead to measurement errors of several centimeters, compromising procedural reliability.
    • Accurate EM tracking is essential for the success of various clinical interventions.

    Purpose of the Study:

    • To develop and validate a real-time dynamic calibration and field distortion compensation method for EM tracking systems.
    • To improve the accuracy and reliability of EM tracking in the presence of common clinical field distorting objects.
    • To enable robust EM navigation independent of external calibration or tracking aids.

    Main Methods:

    • Integration of a motion model with redundant EM sensor observations for real-time compensation.
    • Application of simultaneous localization and mapping (SLAM) to estimate instrument pose and concurrently map field distortions.
    • Experimental validation using six degrees-of-freedom motions in diverse research and clinical environments.

    Main Results:

    • Significant reduction in tracking errors: 67% for position and 64% for orientation measurements.
    • Demonstrated improvement in EM tracking accuracy compared to conventional sensor fusion techniques.
    • Successful real-time compensation of field distortions without preoperative calibration.

    Conclusions:

    • The proposed approach effectively compensates for EM field distortions, enhancing tracking accuracy.
    • This novel method offers a reliable solution for EM navigation, overcoming limitations of current clinical applications.
    • The technique's independence from external devices facilitates broader adoption in clinical settings.