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Compensation of dynamic electromagnetic field distortion using simultaneous localization and mapping method with application in endobronchial ultrasound‐transbronchial needle aspiration (EBUS‐TBNA) guidance
Author(s) -
Navaei Lavasani Saeedeh,
Deevband Mohammadreza,
Farnia Parastoo,
Ahmadian Alireza,
Saghatchi Samaneh
Publication year - 2020
Publication title -
the international journal of medical robotics and computer assisted surgery
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.556
H-Index - 53
eISSN - 1478-596X
pISSN - 1478-5951
DOI - 10.1002/rcs.2035
Subject(s) - imaging phantom , computer science , computer vision , tracking (education) , extended kalman filter , kalman filter , artificial intelligence , fiducial marker , sampling (signal processing) , distortion (music) , position (finance) , filter (signal processing) , radiology , medicine , amplifier , computer network , bandwidth (computing) , finance , economics , psychology , pedagogy
Background Electromagnetic (EM)‐based navigation methods without line‐of‐sight restrictions may improve lymph node sampling precision in transbronchial needle aspiration (TBNA) procedure. However, EM tracking susceptibility to metallic objects severely declines its precision. Method We proposed to track the location of a tool in a dynamic bronchial phantom and compensate field distortion in a real‐time procedure. Extended Kalman filter simultaneous localization and mapping (EKF‐SLAM) algorithm employ the bronchial motion and observations of a redundant sensor. The proposed approach was applied to the phantom with four different amplitudes of breathing motion in the presence of two types of field‐distorting objects. Results The proposed approach improved the accuracy of EM tracking on average from 18.94 ±1.17 mm to 4.59 ±0.29 mm and from 14.2 ±0.69 mm to 4.31 ±0.18mm in the presence of steel and aluminum, respectively. Conclusions With EM tracking position error reduction based on the EKF‐SLAM technique, the approach is appeared promising for a navigated ultrasound TBNA procedure.