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Updated: Jan 20, 2026
Substernal Thyroid Biopsy Using Endobronchial Ultrasound-guided Transbronchial Needle Aspiration
Published on: November 10, 2014
Compensation of dynamic electromagnetic field distortion using simultaneous localization and mapping method with
Saeedeh Navaei Lavasani1,2, Mohammadreza Deevband1, Parastoo Farnia2,3
1Department of Biomedical Engineering and Medical Physics, Faculty of Medicine, Shahid Beheshti University of Medical Sciences, Tehran, Iran.
Background:
Electromagnetic (EM)-based navigation methods without line-of-sight restrictions may improve lymph node sampling precision in transbronchial needle aspiration (TBNA) procedure. However, EM tracking susceptibility to metallic objects severely declines its precision.
Method:
We proposed to track the location of a tool in a dynamic bronchial phantom and compensate field distortion in a real-time procedure. Extended Kalman filter simultaneous localization and mapping (EKF-SLAM) algorithm employ the bronchial motion and observations of a redundant sensor. The proposed approach was applied to the phantom with four different amplitudes of breathing motion in the presence of two types of field-distorting objects.
Results:
The proposed approach improved the accuracy of EM tracking on average from 18.94 ±1.17 mm to 4.59 ±0.29 mm and from 14.2 ±0.69 mm to 4.31 ±0.18mm in the presence of steel and aluminum, respectively.
Conclusions:
With EM tracking position error reduction based on the EKF-SLAM technique, the approach is appeared promising for a navigated ultrasound TBNA procedure.
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