Externally Navigated Bronchoscopy Using 2-D Motion Sensors: Dynamic Phantom Validation

The paper presents a new endoscope motion tracking method that is based on a novel external endoscope tracking device and our modified stochastic optimization method for boosting endoscopy navigation. We designed a novel tracking prototype where a 2-D motion sensor was introduced to directly measure...

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Bibliographic Details
Published in:IEEE transactions on medical imaging 2013-10, Vol.32 (10), p.1745-1764
Main Authors: Xiongbiao Luo, Kitasaka, Takayuki, Mori, Kensaku
Format: Article
Language:English
Subjects:
Algorithms
Bronchi - anatomy & histology
Bronchi - physiology
Bronchoscopy
Bronchoscopy - instrumentation
Bronchoscopy - methods
Cameras
Condensation algorithm
Endoscopes
endoscopy
Humans
Imaging, Three-Dimensional - methods
Models, Biological
Movement - physiology
navigated bronchoscopy
Navigation
optical mouse senor
particle swarm optimization
Phantoms, Imaging
Respiration
Sensors
stochastic optimization methods
Surgery, Computer-Assisted - instrumentation
Surgery, Computer-Assisted - methods
three-dimensional (3-D) motion tracking
Tracking
two-dimensional (2-D) motion sensor
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Summary:The paper presents a new endoscope motion tracking method that is based on a novel external endoscope tracking device and our modified stochastic optimization method for boosting endoscopy navigation. We designed a novel tracking prototype where a 2-D motion sensor was introduced to directly measure the insertion-retreat linear motion and also the rotation of the endoscope. With our developed stochastic optimization method, which embeds traceable particle swarm optimization in the Condensation algorithm, a full six degrees-of-freedom endoscope pose (position and orientation) can be recovered from 2-D motion sensor measurements. Experiments were performed on a dynamic bronchial phantom with maximal simulated respiratory motion around 24.0 mm. The experimental results demonstrate that our proposed method provides a promising endoscope motion tracking approach with more effective and robust performance than several current available tracking techniques. The average tracking accuracy of the position improved from 6.5 to 3.3 mm, which further approaches the clinical requirement of 2.0 mm in practice.
ISSN:0278-0062
1558-254X
DOI:10.1109/TMI.2013.2263152