Measurement of electromagnetic tracking error in a navigated breast surgery setup

Vinyas Harish, Aidan Baksh, Tamas Ungi, Andras Lasso, Zachary Baum, Gabrielle Gauvin, Jay Engel, John Rudan, Gabor Fichtinger

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

PURPOSE: The measurement of tracking error is crucial to ensure the safety and feasibility of electromagnetically tracked, image-guided procedures. Measurement should occur in a clinical environment because electromagnetic field distortion depends on positioning relative to the field generator and metal objects. However, we could not find an accessible and open-source system for calibration, error measurement, and visualization. We developed such a system and tested it in a navigated breast surgery setup. METHODS: A pointer tool was designed for concurrent electromagnetic and optical tracking. Software modules were developed for automatic calibration of the measurement system, real-time error visualization, and analysis. The system was taken to an operating room to test for field distortion in a navigated breast surgery setup. Positional and rotational electromagnetic tracking errors were then calculated using optical tracking as a ground truth. RESULTS: Our system is quick to set up and can be rapidly deployed. The process from calibration to visualization also only takes a few minutes. Field distortion was measured in the presence of various surgical equipment. Positional and rotational error in a clean field was approximately 0.90 mm and 0.31°. The presence of a surgical table, an electrosurgical cautery, and anesthesia machine increased the error by up to a few tenths of a millimeter and tenth of a degree. CONCLUSION: In a navigated breast surgery setup, measurement and visualization of tracking error defines a safe working area in the presence of surgical equipment. Our system is available as an extension for the open-source 3D Slicer platform.

Original languageEnglish (US)
Title of host publicationMedical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling
PublisherSPIE
Volume9786
ISBN (Electronic)9781510600218
DOIs
StatePublished - 2016
Externally publishedYes
EventMedical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling - San Diego, United States
Duration: Feb 28 2016Mar 1 2016

Other

OtherMedical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling
CountryUnited States
CitySan Diego
Period2/28/163/1/16

Keywords

  • 3D Slicer
  • Electromagnetic Tracking Error
  • Image-Guided Intervention
  • Image-Guided Therapy
  • PLUS Toolkit
  • Quality Assurance System
  • SlicerIGT
  • Visualization

ASJC Scopus subject areas

  • Atomic and Molecular Physics, and Optics
  • Electronic, Optical and Magnetic Materials
  • Biomaterials
  • Radiology Nuclear Medicine and imaging

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  • Cite this

    Harish, V., Baksh, A., Ungi, T., Lasso, A., Baum, Z., Gauvin, G., Engel, J., Rudan, J., & Fichtinger, G. (2016). Measurement of electromagnetic tracking error in a navigated breast surgery setup. In Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling (Vol. 9786). [97862K] SPIE. https://doi.org/10.1117/12.2217244