Comparing position and orientation accuracy of different electromagnetic sensors for tracking during interventions
Comparing position and orientation accuracy of different electromagnetic sensors for tracking during interventions
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DOI：
10.1007/s11548-015-1348-1
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发表时间：
2016-08-01
影响因子：
3
通讯作者：
Ruers, Theo
中科院分区：
文献类型：
--
作者：
Nijkamp, Jasper;Schermers, Bram;Ruers, Theo
为了比较在肿瘤跟踪范围内使用一个6自由度（DOF）电磁（EM）传感器或三个5DOF传感器的位置信息之间的位置和定向精度，确定了北方数字公司Aurora 5DOF和6DOF传感器对于高达52 cm距离的台式场发生器（TTFG）的位置精度。对于每个传感器，在15 Hz下测量716个位置10 s。在17、27、37和47 cm的TTFG距离处确定每个正交轴的定向精度。对于6DOF传感器，确定传感器的方向与方向轴成一直线，并垂直。针对理论上4cm的肿瘤确定5DOF取向精度。以光学跟踪系统为参考，传感器间的位置均方根误差和抖动相当，且随距离的增加而增加。在TTFG的45 cm距离内，抖动在0.1 cm SD范围内。位置RMSE约为0.1 cm，直至32 cm距离，在52 cm距离处增加至0.4 cm。除了当传感器与垂直于TTFG平面的旋转轴成一直线时（47 cm处有4个误差），6DOF传感器的定向精度在1以内。使用5DOF位置的定向精度在1至37 cm和2至47 cm范围内。6DOF传感器的位置和定向精度与由三个5DOF传感器组成的传感器配置相当。为了实现1 mm和1 mm以内的跟踪精度，到TTFG的距离应限制在约30 cm。
To compare the position and orientation accuracy between using one 6-degree of freedom (DOF) electromagnetic (EM) sensor, or the position information of three 5DOF sensors within the scope of tumor tracking.The position accuracy of Northern Digital Inc Aurora 5DOF and 6DOF sensors was determined for a table-top field generator (TTFG) up to a distance of 52 cm. For each sensor 716 positions were measured for 10 s at 15 Hz. Orientation accuracy was determined for each of the orthogonal axis at the TTFG distances of 17, 27, 37 and 47 cm. For the 6DOF sensors, orientation was determined for sensors in-line with the orientation axis, and perpendicular. 5DOF orientation accuracy was determined for a theoretical 4 cm tumor. An optical tracking system was used as reference.Position RMSE and jitter were comparable between the sensors and increasing with distance. Jitter was within 0.1 cm SD within 45 cm distance to the TTFG. Position RMSE was approximately 0.1 cm up to 32 cm distance, increasing to 0.4 cm at 52 cm distance. Orientation accuracy of the 6DOF sensor was within 1, except when the sensor was in-line with the rotation axis perpendicular to the TTFG plane (4 errors at 47 cm). Orientation accuracy using 5DOF positions was within 1 up to 37 cm and 2 at 47 cm.The position and orientation accuracy of a 6DOF sensor was comparable with a sensor configuration consisting of three 5DOF sensors. To achieve tracking accuracy within 1 mm and 1, the distance to the TTFG should be limited to approximately 30 cm.