Abstract
PURPOSE: The measurement of tracking error is crucial to ensure the safety and feasibility of electromagnetically tracked, image-guided procedures. Measurement should occur in a clinical environment because electromagnetic field distortion depends on positioning relative to the field generator and metal objects. However, we could not find an accessible and open-source system for calibration, error measurement, and visualization. We developed such a system and tested it in a navigated breast surgery setup. METHODS: A pointer tool was designed for concurrent electromagnetic and optical tracking. Software modules were developed for automatic calibration of the measurement system, real-time error visualization, and analysis. The system was taken to an operating room to test for field distortion in a navigated breast surgery setup. Positional and rotational electromagnetic tracking errors were then calculated using optical tracking as a ground truth. RESULTS: Our system is quick to set up and can be rapidly deployed. The process from calibration to visualization also only takes a few minutes. Field distortion was measured in the presence of various surgical equipment. Positional and rotational error in a clean field was approximately 0.90 mm and 0.31°. The presence of a surgical table, an electrosurgical cautery, and anesthesia machine increased the error by up to a few tenths of a millimeter and tenth of a degree. CONCLUSION: In a navigated breast surgery setup, measurement and visualization of tracking error defines a safe working area in the presence of surgical equipment. Our system is available as an extension for the open-source 3D Slicer platform.
Original language | English (US) |
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Title of host publication | Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling |
Publisher | SPIE |
Volume | 9786 |
ISBN (Electronic) | 9781510600218 |
DOIs | |
State | Published - 2016 |
Externally published | Yes |
Event | Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling - San Diego, United States Duration: Feb 28 2016 → Mar 1 2016 |
Other
Other | Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling |
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Country/Territory | United States |
City | San Diego |
Period | 2/28/16 → 3/1/16 |
Keywords
- 3D Slicer
- Electromagnetic Tracking Error
- Image-Guided Intervention
- Image-Guided Therapy
- PLUS Toolkit
- Quality Assurance System
- SlicerIGT
- Visualization
ASJC Scopus subject areas
- Atomic and Molecular Physics, and Optics
- Electronic, Optical and Magnetic Materials
- Biomaterials
- Radiology Nuclear Medicine and imaging