Freehand Cocalibration of Optical and Electromagnetic Trackers for Navigated Bronchoscopy
Freehand Cocalibration of Optical and Electromagnetic Trackers for Navigated Bronchoscopy
复制标题
用于导航支气管镜检查的光学和电磁跟踪器的徒手协同校准
DOI：
10.1007/978-3-540-28626-4_39
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发表时间：
2004
期刊：
影响因子：
--
通讯作者：
Guang
中科院分区：
文献类型：
--
作者：
A. Chung;P. Edwards;F. Deligianni;Guang
电磁（EM）跟踪的最新技术进步促进了EM传感器在外科手术中的使用。由于电磁场在靠近金属物体放置时容易发生畸变，因此需要进行现场校准，以保持可接受的准确度。本文提出了一种通过将坐标测量值映射到光学跟踪器的坐标测量值来标定电磁位置传感器的徒手方法。与以前的技术不同，所提出的方法允许自由移动的校准对象，允许C2连续性和位置和角度校正之间的相互依赖性。所提出的方法涉及使用基于修改的距离度量的径向基函数插值来计算从{E33，SO（3）}到{E33，SO（3）}的映射。该系统提供了有效的失真校正的EM场，并适用于临床情况下，需要快速校准的EM跟踪。
Recent technical advances in electromagnetic (EM) tracking have facilitated the use of EM sensors in surgical interventions. Due to the susceptibility to distortions of the EM field when placed in close proximity to metallic objects, they require calibration in situ to maintain an acceptable degree of accuracy. In this paper, a freehand method is presented for calibrating electromagnetic position sensors by mapping the coordinate measurements to those from optical trackers. Unlike previous techniques, the proposed method allows for free movement of the calibration object, permitting C2continuity and interdependence between positional and angular corrections. The proposed method involves calculation of a mapping from {ℝ3,SO(3)} to {ℝ3,SO(3)} with radial basis function interpolation based on a modified distance metric. The system provides efficient distortion correction of the EM field, and is applicable to clinical situations where a rapid calibration of EM tracking is required.