Saeedeh Navaei Lavasani1,2, Mohammadreza Deevband1, Parastoo Farnia2,3, Alireza Ahmadian2,3, Samaneh Saghatchi2,3. 1. Department of Biomedical Engineering and Medical Physics, Faculty of Medicine, Shahid Beheshti University of Medical Sciences, Tehran, Iran. 2. Image-Guided Intervention Group, Research Centre of Biomedical Technology and Robotics RCBTR, Tehran University of Medical Sciences, Tehran, Iran. 3. Department f Medical Physics and Biomedical Engineering, Faculty of Medicine, Tehran University of Medical Sciences, Tehran, Iran.
Abstract
BACKGROUND: Electromagnetic (EM)-based navigation methods without line-of-sight restrictions may improve lymph node sampling precision in transbronchial needle aspiration (TBNA) procedure. However, EM tracking susceptibility to metallic objects severely declines its precision. METHOD: We proposed to track the location of a tool in a dynamic bronchial phantom and compensate field distortion in a real-time procedure. Extended Kalman filter simultaneous localization and mapping (EKF-SLAM) algorithm employ the bronchial motion and observations of a redundant sensor. The proposed approach was applied to the phantom with four different amplitudes of breathing motion in the presence of two types of field-distorting objects. RESULTS: The proposed approach improved the accuracy of EM tracking on average from 18.94 ±1.17 mm to 4.59 ±0.29 mm and from 14.2 ±0.69 mm to 4.31 ±0.18mm in the presence of steel and aluminum, respectively. CONCLUSIONS: With EM tracking position error reduction based on the EKF-SLAM technique, the approach is appeared promising for a navigated ultrasound TBNA procedure.
BACKGROUND: Electromagnetic (EM)-based navigation methods without line-of-sight restrictions may improve lymph node sampling precision in transbronchial needle aspiration (TBNA) procedure. However, EM tracking susceptibility to metallic objects severely declines its precision. METHOD: We proposed to track the location of a tool in a dynamic bronchial phantom and compensate field distortion in a real-time procedure. Extended Kalman filter simultaneous localization and mapping (EKF-SLAM) algorithm employ the bronchial motion and observations of a redundant sensor. The proposed approach was applied to the phantom with four different amplitudes of breathing motion in the presence of two types of field-distorting objects. RESULTS: The proposed approach improved the accuracy of EM tracking on average from 18.94 ±1.17 mm to 4.59 ±0.29 mm and from 14.2 ±0.69 mm to 4.31 ±0.18mm in the presence of steel and aluminum, respectively. CONCLUSIONS: With EM tracking position error reduction based on the EKF-SLAM technique, the approach is appeared promising for a navigated ultrasound TBNA procedure.
Authors: Martin G Wagner; Sarvesh Periyasamy; Sebastian Schafer; Paul F Laeseke; Michael A Speidel Journal: J Med Imaging (Bellingham) Date: 2021-10-15