title: Hybrid bronchoscope tracking using a magnetic tracking sensor and image registration.
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.
authors: Graduate School of Information Science, Nagoya University, Nagoya, Japan. kensaku@is.nagoya-u.ac.jp
authors: Kensaku
authors: K
authors: Mori
authors: Daisuke
authors: D
authors: Deguchi
authors: Kenta
authors: K
authors: Akiyama
authors: Takayuki
authors: T
authors: Kitasaka
authors: Calvin R
authors: CR
authors: Maurer
authors: Yasuhito
authors: Y
authors: Suenaga
authors: Hirotsugu
authors: H
authors: Takabatake
authors: Masaki
authors: M
authors: Mori
authors: Hiroshi
authors: H
authors: Natori