Abstract
In this paper, we propose a hybrid method for tracking a bronchoscope that uses a combination of magnetic sensor tracking and image registration. The position of a magnetic sensor placed in the working channel of the bronchoscope is provided by a magnetic tracking system. Because of respiratory motion, the magnetic sensor provides only the approximate position and orientation of the bronchoscope in the coordinate system of a CT image acquired before the examination. The sensor position and orientation is used as the starting point for an intensity-based registration between real bronchoscopic video images and virtual bronchoscopic images generated from the CT image. The output transformation of the image registration process is the position and orientation of the bronchoscope in the CT image. We tested the proposed method using a bronchial phantom model. Virtual breathing motion was generated to simulate respiratory motion. The proposed hybrid method successfully tracked the bronchoscope at a rate of approximately 1 Hz.
This research was supported in part by a Grant-In-Aid for Scientific Research from the Ministry of Education; the 21st-Century COE program; a Grant-In-Aid for Scientific Research from the Ministry of Education, Culture, Sports, Science, and Technology; the Japan Society for Promotion of Science; and a Grant-In-Aid for Cancer Research from the Ministry of Health and Welfare.
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Mori, K. et al. (2005). Hybrid Bronchoscope Tracking Using a Magnetic Tracking Sensor and Image Registration. In: Duncan, J.S., Gerig, G. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2005. MICCAI 2005. Lecture Notes in Computer Science, vol 3750. Springer, Berlin, Heidelberg. https://doi.org/10.1007/11566489_67
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DOI: https://doi.org/10.1007/11566489_67
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-29326-2
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