Abstract
Endoscopic ultrasound (EUS) is a minimally-invasive imaging technique that can be technically difficult to perform due to the small field of view and uncertainty in the endoscope position. Electromagnetic (EM) tracking is emerging as an important technology in guiding endoscopic interventions and for training in endotherapy by providing information on endoscope location by fusion with pre-operative images. However, the accuracy of EM tracking could be compromised by the endoscopic ultrasound transducer. In this work, we quantify the precision and accuracy of EM tracking sensors inserted into the working channel of a flexible endoscope, with the ultrasound transducer turned on and off. The EUS device was found to have little (no significant) effect on static tracking accuracy although jitter increased significantly. A significant change in the measured distance between sensors arranged in a fixed geometry was found during a dynamic acquisition. In conclusion, EM tracking accuracy was not found to be significantly affected by the flexible endoscope.
M.J. Clarkson and D.C. Barratt—Joint senior author.
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Acknowledgment
This publication presents independent research supported by Cancer Research UK (CRUK) (Multidisciplinary Award C28070/A19985).
The authors would like to thank Joe Evans from the UCL department of Medical Physics and Biomedical Engineering for making and helping to design the accuracy assessment board, the supporting structures, and adapters.
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Bonmati, E. et al. (2017). Assessment of Electromagnetic Tracking Accuracy for Endoscopic Ultrasound. In: Peters, T., et al. Computer-Assisted and Robotic Endoscopy. CARE 2016. Lecture Notes in Computer Science(), vol 10170. Springer, Cham. https://doi.org/10.1007/978-3-319-54057-3_4
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DOI: https://doi.org/10.1007/978-3-319-54057-3_4
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