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This paper reports a detailed evaluation results of a colonoscope trackingmethod. A colonoscope tracking method utilizing electromagnetic sensors and aCT volume has been proposed. Tracking accuracy of this method was evaluated byusing a colon phantom. In the previously proposed paper, tracking errors weremeasured only at six points on the colon phantom for the accuracy evaluation.The point number is not enough to evaluate relationships between the trackingerrors and positions in the colon. In this paper, we evaluated the colonoscopetracking method based on more detailed measurement results of the trackingerrors. We measured tracking errors at 52 points on the colon phantom andvisualized magnitudes of the tracking errors. From our experiments, trackingerrors in the ascending and descending colons were enough small to performcolonoscope navigations. However, tracking errors in the transverse anddescending colons were large due to colon deformations.

Tracking accuracy evaluation of electromagnetic sensor-based colonoscope tracking method