The international journal of medical robotics + computer assisted surgery : MRCAS · 2019
Compensation of dynamic electromagnetic field distortion using simultaneous localization and mapping method with application in endobronchial ultrasound-transbronchial needle aspiration (EBUS-TBNA) guidance.
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Navaei Lavasani Saeedeh, Deevband Mohammadreza, Farnia Parastoo, Ahmadian Alireza, Saghatchi Samaneh
Аннотация
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.
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.