Abstract
Background: In clinical environments, field distortion can cause significant electromagnetic tracking errors. Therefore, dynamic calibration of electromagnetic tracking systems is essential to compensate for measurement errors. Methods: It is proposed to integrate the motion model of the tracked instrument with redundant EM sensor observations and to apply a simultaneous localization and mapping algorithm in order to accurately estimate the pose of the instrument and create a map of the field distortion in real-time. Experiments were conducted in the presence of ferromagnetic and electrically-conductive field distorting objects and results compared with those of a conventional sensor fusion approach. Results: The proposed method reduced the tracking error from 3.94±1.61 mm to 1.82±0.62 mm in the presence of steel, and from 0.31±0.22 mm to 0.11±0.14 mm in the presence of aluminum. Conclusions: With reduced tracking error and independence from external tracking devices or pre-operative calibrations, the approach is promising for reliable EM navigation in various clinical procedures.
Original language | English (US) |
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Pages (from-to) | 189-198 |
Number of pages | 10 |
Journal | International Journal of Medical Robotics and Computer Assisted Surgery |
Volume | 12 |
Issue number | 2 |
DOIs | |
State | Published - Jun 1 2016 |
Externally published | Yes |
Keywords
- calibration
- electromagnetic tracking
- field distortion compensation
- sensor fusion
- simultaneous localization and mapping
- surgical navigation
ASJC Scopus subject areas
- Computer Science Applications
- Biophysics
- Surgery