This paper presents a method for bronchoscope tracking without any fiducial markers using an ultra-tiny electromagnetic tracker (UEMT) for a bronchoscopy guidance system. The proposed method calculates the transformation matrix, which shows the relationship between the coordinates systems of the pre-operative CT images and the UEMT, by registering bronchial branches segmented from CT images and points measured by the UEMT attached at the tip of a bronchoscope. We dynamically compute the transformation matrix for every pre-defined number of measurements. We applied the proposed method to a bronchial phantom in several experimental environments. The experimental results showed the proposed method can track a bronchoscope camera with about 3.3mm of target registration error (TRE) for wood table environment and 4.0mm of TRE for examination table environment. © Springer-Verlag Berlin Heidelberg 2007.
CITATION STYLE
Mori, K., Deguchi, D., Ishitani, K., Kitasaka, T., Suenaga, Y., Hasegawa, Y., … Takabatake, H. (2007). Bronchoscope tracking without fiducial markers using ultra-tiny electromagnetic tracking system and its evaluation in different environments. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics) (Vol. 4792 LNCS, pp. 644–651). Springer Verlag. https://doi.org/10.1007/978-3-540-75759-7_78
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