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.
This is a preview of subscription content, log in via an institution.
Buying options
Tax calculation will be finalised at checkout
Purchases are for personal use only
Learn about institutional subscriptionsReferences
Williams, D.B., Sahai, A.V., Aabakken, L., Penman, I.D., van Velse, A., Webb, J., Wilson, M., Hoffman, B.J., Hawes, R.H.: Endoscopic ultrasound guided fine needle aspiration biopsy: a large single centre experience. Gut 44, 720–726 (1999)
Mertz, H., Gautam, S.: The learning curve for EUS-guided FNA of pancreatic cancer. Gastrointest. Endosc. 59, 33–37 (2004)
Mori, K., Deguchi, D., Sugiyama, J., Suenaga, Y., Toriwaki, J., Maurer, C.R., Takabatake, H., Natori, H.: Tracking of a bronchoscope using epipolar geometry analysis and intensity-based image registration of real and virtual endoscopic images. Med. Image Anal. 6, 321–336 (2002)
Fried, M.P., Kleefield, J., Gopal, H., Reardon, E., Ho, B.T., Kuhn, F.A.: Image-guided endoscopic surgery: results of accuracy and performance in a multicenter clinical study using an electromagnetic tracking system. Laryngoscope 107, 594–601 (1997)
Sumiyama, K., Suzuki, N., Kakutani, H., Hino, S., Tajiri, H., Suzuki, H., Aoki, T.: A novel 3-dimensional EUS technique for real-time visualization of the volume data reconstruction process. Gastrointest. Endosc. 55, 723–728 (2002)
Fritscher-Ravens, A., Knoefel, W.T., Krause, C., Swain, C.P., Brandt, L., Patel, K.: Three-dimensional linear endoscopic ultrasound—feasibility of a novel technique applied for the detection of vessel involvement of pancreatic masses. Am. J. Gastroenterol. 100, 1296–1302 (2005)
Frantz, D.D., Wiles, A.D., Leis, S.E., Kirsch, S.R.: Accuracy assessment protocols for electromagnetic tracking systems. Phys. Med. Biol. 48, 2241–2251 (2003)
Hummel, J.B., Bax, M.R., Figl, M.L., Kang, Y., Maurer, C., Birkfellner, W.W., Bergmann, H., Shahidi, R.: Design and application of an assessment protocol for electromagnetic tracking systems. Med. Phys. 32, 2371–2379 (2005)
Wilson, E., Yaniv, Z., Zhang, H., Nafis, C., Shen, E., Shechter, G., Wiles, A.D., Peters, T., Lindisch, D., Cleary, K.: A hardware and software protocol for the evaluation of electromagnetic tracker accuracy in the clinical environment: a multi-center study. In: Proceedings of SPIE, vol. 6509, pp. 65092T–65092T–11 (2007)
Nagy, M.: Towards unified electromagnetic tracking system assessment — static errors. IEEE Eng. Med. Biol. Mag. 236, 1905–1908 (2011)
Franz, A.M., Haidegger, T., Birkfellner, W., Cleary, K., Peters, T.M., Maier-Hein, L.: Electromagnetic tracking in medicine - A review of technology, validation, and applications. IEEE Trans. Med. Imaging 33, 1702–1725 (2014)
Maier-Hein, L., Franz, A.M., Birkfellner, W., Hummel, J., Gergel, I., Wegner, I., Meinzer, H.P.: Standardized assessment of new electromagnetic field generators in an interventional radiology setting. Med. Phys. 39, 3424–3434 (2012)
Franz, A.M., Schmitt, D., Seitel, A., Chatrasingh, M., Echner, G., Oelfke, U., Nill, S., Birkfellner, W., Maier-Hein, L.: Standardized accuracy assessment of the calypso wireless transponder tracking system. Phys. Med. Biol. 59, 6797–6810 (2014)
Franz, A.M., März, K., Hummel, J., Birkfellner, W., Bendl, R., Delorme, S., Schlemmer, H.P., Meinzer, H.P., Maier-Hein, L.: Electromagnetic tracking for US-guided interventions: standardized assessment of a new compact field generator. Int. J. Comput. Assist. Radiol. Surg. 7, 813–818 (2012)
Hastenteufel, M., Vetter, M., Meinzer, H.P., Wolf, I.: Effect of 3D ultrasound probes on the accuracy of electromagnetic tracking systems. Ultrasound Med. Biol. 32, 1359–1368 (2006)
Qi, Y., Sadjadi, H., Yeo, C.T., Hashtrudi-zaad, K., Member, S., Fichtinger, G.: Electromagnetic tracking performance analysis and optimization, pp. 6534–6538 (2014)
Lugez, E., Sadjadi, H., Pichora, D.R., Ellis, R.E., Akl, S.G., Fichtinger, G.: Electromagnetic tracking in surgical and interventional environments: usability study. Int. J. Comput. Assist. Radiol. Surg. 10, 253–262 (2015)
Hummel, J., Figl, M., Kollmann, C., Bergmann, H., Birkfellner, W.: Evaluation of a miniature electromagnetic position tracker. Med. Phys. 29, 2205–2212 (2002)
Nixon, M.A., McCallum, B.C., Fright, W.R., Price, N.B.: The effects of metals and interfering fields on electromagnetic trackers. Presence Teleoperators Virtual Environ. 7, 204–218 (1998)
Kirsch, S.R., Schilling, C., Brunner, G.: Assesment of metallic distortions of an electromagnetic tracking system. In: SPIE Medical Imaging. International Society for Optics and Photonics (2006)
Yaniv, Z., Wilson, E., Lindisch, D., Cleary, K.: Electromagnetic tracking in the clinical environment. Med. Phys. 36, 876–892 (2009)
Leong, S., Ju, H., Marshall, H., Bowman, R., Yang, I., Ree, A.-M., Saxon, C., Fong, K.M.: Electromagnetic navigation bronchoscopy: a descriptive analysis. J. Thorac. Dis. 4, 173–185 (2012)
Szura, M., Bucki, K., Matyja, A., Kulig, J.: Evaluation of magnetic scope navigation in screening endoscopic examination of colorectal cancer. Surg. Endosc. 26, 632–638 (2012)
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.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2017 Springer International Publishing AG
About this paper
Cite this paper
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
Download citation
DOI: https://doi.org/10.1007/978-3-319-54057-3_4
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-319-54056-6
Online ISBN: 978-3-319-54057-3
eBook Packages: Computer ScienceComputer Science (R0)