Real-time probe tracking using EM-optical sensor for MRI-guided cryoablation
| Autor: | Wenpeng Gao, Erez Nevo, Barry J. Fetics, Thomas C. Lee, Jagadeesan Jayender, Bai-Chuan Jiang, Daniel F. Kacher |
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| Rok vydání: | 2016 |
| Předmět: |
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Optics and Photonics Computer science medicine.medical_treatment Biophysics Workspace Tracking (particle physics) Cryosurgery Imaging phantom Article 030218 nuclear medicine & medical imaging 03 medical and health sciences User-Computer Interface 0302 clinical medicine medicine Image Processing Computer-Assisted Humans Computer vision business.industry Phantoms Imaging Reproducibility of Results Cryoablation Kalman filter Equipment Design Magnetic Resonance Imaging Computer Science Applications Optical tracking 030220 oncology & carcinogenesis Calibration Surgery Programming Languages Artificial intelligence business Electromagnetic Phenomena Mri guided Algorithms |
| Zdroj: | The international journal of medical robotics + computer assisted surgery : MRCAS. 14(1) |
| ISSN: | 1478-596X |
| Popis: | BACKGROUND A method of real-time, accurate probe tracking at the entrance of the MRI bore is developed, which, fused with pre-procedural MR images, will enable clinicians to perform cryoablation efficiently in a large workspace with image guidance. METHODS Electromagnetic (EM) tracking coupled with optical tracking is used to track the probe. EM tracking is achieved with an MRI-safe EM sensor working under the scanner's magnetic field to compensate the line-of-sight issue of optical tracking. Unscented Kalman filter-based probe tracking is developed to smooth the EM sensor measurements when occlusion occurs and to improve the tracking accuracy by fusing the measurements of two sensors. RESULTS Experiments with a spine phantom show that the mean targeting errors using the EM sensor alone and using the proposed method are 2.21 mm and 1.80 mm, respectively. CONCLUSION The proposed method achieves more accurate probe tracking than using an EM sensor alone at the MRI scanner entrance. |
| Databáze: | OpenAIRE |
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