Three-dimensional CT-guided bronchoscopy with a real-time electromagnetic position sensor: a comparison of two image registration methods.
OBJECTIVE
To compare two different image registration methods for accurately displaying the position of a flexible bronchoscope on a previously acquired three-dimensional CT scan during bronchoscopy.


METHODS
Bronchoscopy suite of a university hospital.


METHODS
Fifteen adult patients scheduled for nonemergent bronchoscopy.


METHODS
A miniature electromagnetic position sensor was placed at the tip of a flexible bronchoscope. Previously acquired three-dimensional CT scans were registered with the patient in the bronchoscopy suite. Registration method 1 used multiple skin fiducial markers. Registration method 2 used the inner surface of the trachea itself for registration. Method 1 was objectively assessed by measuring the error distance between the real skin marker position and the computer display position. Methods 1 and 2 were subjectively assessed by the bronchoscopist correlating visual bronchoscopic anatomic location with the computer display position on the CT image.


RESULTS
The error distance (+/- SD) from known points for registration method 1 was 5.6 +/- 2.7 mm. Objective error distances were not measured for method 2 because no accurate placement of the bronchoscope sensor could be correlated with CT position. Subjectively, method 2 was judged more accurate than method 1 when compared with the fiberoptic view of the airways through the bronchoscope. Additionally, method 2 had the advantage of not requiring placement of fiducial markers before the CT scan. Respiratory motion contributed an error of 3.6 +/- 2.6 mm, which was partially compensated for by a second tracking sensor placed on the patient's chest.


CONCLUSIONS
Image registration method 2 of surface fitting the trachea rather than method 1 of fiducial markers was subjectively judged to be superior for registering the position of a flexible bronchoscope during bronchoscopy. Method 2 was also more practical inasmuch as no special CT scanning technique was required before bronchoscopy.
Solomon
S B
SB
Departments of Cardiovascular and Interventional Radiology, Johns Hopkins School of Medicine, Baltimore, MD 21287, USA. ssolomo@jhmi.edu
White
P
P
Wiener
C M
CM
Orens
J B
JB
Wang
K P
KP
D001706:Biopsy; D001999:Bronchoscopy; D055590:Electromagnetic Phenomena; D005260:Female; D006801:Humans; D008297:Male; D015641:Radiography, Interventional; D014057:Tomography, X-Ray Computed