An open electromagnetic tracking framework applied to targeted liver tumour ablation

Autor: Fabian Trauzettel, Joseph Keane, Erlend Fagertun Hofstad, Stéphane Cotin, Ole Vegard Solberg, Brian Richard Bird, Håkon Olav Leira, Stephen Hinds, Pádraig Cantillon-Murphy, Herman Alexander Jaeger, Brodie O'Sullivan, Thomas Langø, Bruno Marques, Richard Burke
Jazyk: angličtina
Předmět:
Swine
Computer science
medicine.medical_treatment
0206 medical engineering
Biomedical Engineering
Health Informatics
02 engineering and technology
Tracking (particle physics)
computer.software_genre
Tumor ablation
030218 nuclear medicine & medical imaging
03 medical and health sciences
0302 clinical medicine
medicine
Animals
Radiology
Nuclear Medicine and imaging
Surgical navigation
Electromagnetic tracking
Image-guided intervention
business.industry
Biopsy
Needle
Liver Neoplasms
Reproducibility of Results
Tracking system
Equipment Design
General Medicine
Ablation
020601 biomedical engineering
Computer Graphics and Computer-Aided Design
Computer Science Applications
Visualization
Software framework
Liver
Surgery
Computer-Assisted
Needles
Catheter Ablation
Design process
Female
Surgery
Computer Vision and Pattern Recognition
business
Electromagnetic Phenomena
computer
Algorithms
Software
Computer hardware
Zdroj: International Journal of Computer Assisted Radiology and Surgery
ISSN: 1861-6429
1861-6410
DOI: 10.1007/s11548-019-01983-5
Popis: Purpose: Electromagnetic tracking is a core platform technology in the navigation and visualisation of image-guided procedures. The technology provides high tracking accuracy in non-line-of-sight environments, allowing instrument navigation in locations where optical tracking is not feasible. EMT can be beneficial in applications such as percutaneous radiofrequency ablation for the treatment of hepatic lesions where the needle tip may be obscured due to difficult liver environments (e.g subcutaneous fat or ablation artefacts). Advances in the field of EMT include novel methods of improving tracking system accuracy, precision and error compensation capabilities, though such system-level improvements cannot be readily incorporated in current therapy applications due to the ‘blackbox’ nature of commercial tracking solving algorithms. Methods: This paper defines a software framework to allow novel EMT designs, and improvements become part of the global design process for image-guided interventions. An exemplary framework is implemented in the Python programming language and demonstrated with the open-source Anser EMT system. The framework is applied in the preclinical setting though targeted liver ablation therapy on an animal model. Results: The developed framework was tested with the Anser EMT electromagnetic tracking platform. Liver tumour targeting was performed using the tracking framework with the CustusX navigation platform using commercially available electromagnetically tracked needles. Ablation of two tumours was performed with a commercially available ablation system. Necropsy of the tumours indicated ablations within 5 mm of the tumours. Conclusions: An open-source framework for electromagnetic tracking was presented and effectively demonstrated in the preclinical setting. We believe that this framework provides a structure for future advancement in EMT system in and customised instrument design.
Databáze: OpenAIRE
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