Towards hybrid bronchoscope tracking under respiratory motion: evaluation on a dynamic motion phantom
Towards hybrid bronchoscope tracking under respiratory motion: evaluation on a dynamic motion phantom
复制标题
呼吸运动下的混合支气管镜追踪：动态运动模型的评估
DOI：
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发表时间：
2010
期刊：
影响因子：
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通讯作者：
K. Mori
中科院分区：
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作者：
Xióngbiao Luó;M. Feuerstein;Takamasa Sugiura;T. Kitasaka;K. Imaizumi;Y. Hasegawa;K. Mori
本文提出了一种混合摄像机跟踪方法，使用电磁（EM）跟踪和基于强度的图像配准和评价的动态运动体模。由于呼吸运动可以显著地影响EM跟踪和CT坐标系的刚性配准，当初始相机姿势与实际姿势太远时，标准跟踪方法（其是利用通过EM跟踪获取的绝对姿势数据的基于亮度的图像配准）将失败。我们在这里提出了两个新的方案来解决这个问题。这两种方案都智能地将来自EM跟踪的绝对姿态数据与来自EM跟踪和基于强度的图像配准的相对运动数据联合收割机组合。这些方案显着提高了整体摄像机跟踪性能。我们构建了一个动态的模型来模拟呼吸运动的气道来评估这些方案。我们的实验结果表明，这些计划可以跟踪支气管镜更准确和鲁棒性比我们以前提出的方法，即使当最大模拟呼吸运动达到24毫米。
This paper presents a hybrid camera tracking method that uses electromagnetic (EM) tracking and intensitybased image registration and its evaluation on a dynamic motion phantom. As respiratory motion can significantly affect rigid registration of the EM tracking and CT coordinate systems, a standard tracking approach that initializes intensity-based image registration with absolute pose data acquired by EM tracking will fail when the initial camera pose is too far from the actual pose. We here propose two new schemes to address this problem. Both of these schemes intelligently combine absolute pose data from EM tracking with relative motion data combined from EM tracking and intensity-based image registration. These schemes significantly improve the overall camera tracking performance. We constructed a dynamic phantom simulating the respiratory motion of the airways to evaluate these schemes. Our experimental results demonstrate that these schemes can track a bronchoscope more accurately and robustly than our previously proposed method even when maximum simulated respiratory motion reaches 24 mm.