title: Adaptive marker-free registration using a multiple point strategy for real-time and robust endoscope electromagnetic navigation.
abstract: Registration of pre-clinical images to physical space is indispensable for computer-assisted endoscopic interventions in operating rooms. Electromagnetically navigated endoscopic interventions are increasingly performed at current diagnoses and treatments. Such interventions use an electromagnetic tracker with a miniature sensor that is usually attached at an endoscope distal tip to real time track endoscope movements in a pre-clinical image space. Spatial alignment between the electromagnetic tracker (or sensor) and pre-clinical images must be performed to navigate the endoscope to target regions. This paper proposes an adaptive marker-free registration method that uses a multiple point selection strategy. This method seeks to address an assumption that the endoscope is operated along the centerline of an intraluminal organ which is easily violated during interventions. We introduce an adaptive strategy that generates multiple points in terms of sensor measurements and endoscope tip center calibration. From these generated points, we adaptively choose the optimal point, which is the closest to its assigned the centerline of the hollow organ, to perform registration. The experimental results demonstrate that our proposed adaptive strategy significantly reduced the target registration error from 5.32 to 2.59 mm in static phantoms validation, as well as from at least 7.58 mm to 4.71 mm in dynamic phantom validation compared to current available methods.
authors.affiliation: Information and Communications Headquarters, Nagoya University, Japan. Electronic address: Xiongbiao.Luo@gmail.com.
authors.forename: Xiongbiao
authors.initials: X
authors.lastname: Luo
authors.affiliation: School of Computing and Communications, University of Technology, Sydney, Australia. Electronic address: Joyee.Wan@gmail.com.
authors.forename: Ying
authors.initials: Y
authors.lastname: Wan
authors.affiliation: School of Computing and Communications, University of Technology, Sydney, Australia. Electronic address: Xiangjian.He@uts.edu.au.
authors.forename: Xiangjian
authors.initials: X
authors.lastname: He
authors.affiliation: Information and Communications Headquarters, Nagoya University, Japan. Electronic address: kensaku@is.nagoya-u.ac.jp.
authors.forename: Kensaku
authors.initials: K
authors.lastname: Mori
mesh_terms: D002138:Calibration; D055590:Electromagnetic Phenomena; D004724:Endoscopy / Q000379:methods*; D014057:Tomography, X-Ray Computed
keywords: Bronchoscope navigation; Electromagnetic tracker; Electromagnetically navigated endoscopy; Endoscope 3-D motion tracking; Marker-free registration