naa a22 4500 510807089 CHVBK 20180411083423.0 cr unu---uuuuu 180411e20131101xx s 000 0 eng 10.1007/s11548-013-0835-5 doi (NATIONALLICENCE)springer-10.1007/s11548-013-0835-5 Hybrid electromagnetic and image-based tracking of endoscopes with guaranteed smooth output [Elektronische Daten] [Tobias Reichl, Xiongbiao Luo, Manuela Menzel, Hubert Hautmann, Kensaku Mori, Nassir Navab] Purpose: Flexible fiber-optic bronchoscopy is a widespread medical procedure for the diagnosis and treatment of lung diseases. Navigation systems are needed to track the flexible endoscope within the bronchial tree. Electromagnetic (EM) tracking is currently the only technology used clinically for this purpose. The registration between EM tracking and patient anatomy may become inaccurate due to breathing motion, so the addition of image-based tracking has been proposed as a hybrid EM-image-based system. Methods: When EM tracking is used as an initialization for image registration, small changes in the initialization may lead to different local minima and noise is amplified by hybrid tracking. The tracking output is modeled as continuous and uses splines for interpolation, thus smoothness is greatly improved. The bronchoscope pose relative to computed tomography data is interpolated using Catmull-Rom splines for position and spherical linear interpolation (SLERP) for orientation. Results: The hybrid method was evaluated using ground truth poses manually selected by experts, where mean inter-expert agreement was determined as 1.26mm. Using four dynamic phantom data sets, the accuracy was 4.91mm, which is equivalent to previous methods. Compared to state-of-art methods, inter-frame smoothness was improved from 2.77-3.72 to 1.24mm. Conclusions: Hybrid image and electromagnetic endoscope guidance provides a more realistic and physically plausible solution with significantly less jitter. This quantitative result is confirmed by visual comparison of real and virtual video, where the virtual video output is much more consistent and robust, with fewer occasions of tracking loss or unexpected movement compared with previous methods. CARS, 2013 Localization and tracking technologies nationallicence Electromagnetic tracking nationallicence 2D/3D image registration nationallicence Endoscopic procedures nationallicence Intraoperative imaging nationallicence Reichl Tobias Computer-Aided Medical Procedures, TUM, Munich, Germany aut Luo Xiongbiao Information and Communications Headquarters, Nagoya University, Nagoya, Japan aut Menzel Manuela Medizinische Klinik I, Klinikum rechts der Isar, TUM, Munich, Germany aut Hautmann Hubert Medizinische Klinik I, Klinikum rechts der Isar, TUM, Munich, Germany aut Mori Kensaku Information and Communications Headquarters, Nagoya University, Nagoya, Japan aut Navab Nassir Computer-Aided Medical Procedures, TUM, Munich, Germany aut International Journal of Computer Assisted Radiology and Surgery Springer Berlin Heidelberg 8/6(2013-11-01), 955-965 1861-6410 8:6<955 2013 8 11548 https://doi.org/10.1007/s11548-013-0835-5 text/html Onlinezugriff via DOI 1 research-article jats NATIONALLICENCE 856 40 https://doi.org/10.1007/s11548-013-0835-5 text/html Onlinezugriff via DOI NATIONALLICENCE 700 1- Reichl Tobias Computer-Aided Medical Procedures, TUM, Munich, Germany aut NATIONALLICENCE 700 1- Luo Xiongbiao Information and Communications Headquarters, Nagoya University, Nagoya, Japan aut NATIONALLICENCE 700 1- Menzel Manuela Medizinische Klinik I, Klinikum rechts der Isar, TUM, Munich, Germany aut NATIONALLICENCE 700 1- Hautmann Hubert Medizinische Klinik I, Klinikum rechts der Isar, TUM, Munich, Germany aut NATIONALLICENCE 700 1- Mori Kensaku Information and Communications Headquarters, Nagoya University, Nagoya, Japan aut NATIONALLICENCE 700 1- Navab Nassir Computer-Aided Medical Procedures, TUM, Munich, Germany aut NATIONALLICENCE 773 0- International Journal of Computer Assisted Radiology and Surgery Springer Berlin Heidelberg 8/6(2013-11-01), 955-965 1861-6410 8:6<955 2013 8 11548 Metadata rights reserved Springer special CC-BY-NC licence nationallicence BK010053 XK010053 XK010000 NATIONALLICENCE NATIONALLICENCE NL-springer