title: Three-dimensional CT-guided bronchoscopy with a real-time electromagnetic position sensor: a comparison of two image registration methods.
abstract: 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.
authors: Departments of Cardiovascular and Interventional Radiology, Johns Hopkins School of Medicine, Baltimore, MD 21287, USA. ssolomo@jhmi.edu
authors: S B
authors: SB
authors: Solomon
authors: P
authors: P
authors: White
authors: C M
authors: CM
authors: Wiener
authors: J B
authors: JB
authors: Orens
authors: K P
authors: KP
authors: Wang
mesh_terms: D001706:Biopsy; D001999:Bronchoscopy; D055590:Electromagnetic Phenomena; D005260:Female; D006801:Humans; D008297:Male; D015641:Radiography, Interventional; D014057:Tomography, X-Ray Computed