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An EM-Tracked Approach for Calibrating the 3D Pose of Flexible Endoscopes
Zhongjie Long1, Yongting Chi2, Xianbo Zhang2
1Key Laboratory of the Ministry of Education for Modern Measurement & Control Technology, and School of Electromechanical Engineering, Beijing Information Science & Technology University, Beijing, 100192, China. zhongjielong@bistu.edu.cn.
This study introduces a simplified electromagnetic (EM)-tracked calibration for flexible endoscopes, eliminating the need for predefined sensor poses. The new method enhances accuracy for endoscopic tools tracking and surgical training systems.
Area of Science:
- Medical Imaging
- Robotics
- Surgical Technology
Background:
- Flexible endoscopes are crucial for minimally invasive diagnostics.
- Endoscope calibration is complex and essential for accurate image-based tool tracking.
Purpose of the Study:
- To develop a simplified, accurate, and user-friendly calibration method for flexible endoscopes using electromagnetic tracking.
- To eliminate the requirement for predefined poses of the electromagnetic sensor during calibration.
Main Methods:
- A three-stage calibration protocol involving endoscope rotation, tip contact with a plane, and pose model derivation.
- Utilizing an electromagnetic (EM) sensor attached to the endoscope handle for pose estimation.
- Experimental validation through two designed experiments to assess accuracy.
Main Results:
- Accurate estimation of endoscope tube orientation (0.09 ± 0.06 deg, 0.03 ± 0.19 deg).
- Precise 3D localization of the endoscope tip (0.52 ± 0.29 mm, 0.33 ± 0.11 mm, 0.29 ± 0.17 mm in x, y, z).
- The approach is accurate, easy to operate, and does not require custom markers.
Conclusions:
- The proposed EM-tracked calibration method simplifies the process for flexible endoscopes.
- This technique offers high accuracy for both endoscope tube orientation and tip positioning.
- The method is suitable for applications in surgical training and endoscopic tool tracking systems.
