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International Journal of Computer Assisted Radiology and Surgery

Erschienen in:

07.02.2018 | Original Article

Kalman filter-based EM-optical sensor fusion for needle deflection estimation

verfasst von: Baichuan Jiang, Wenpeng Gao, Daniel Kacher, Erez Nevo, Barry Fetics, Thomas C. Lee, Jagadeesan Jayender

Erschienen in: International Journal of Computer Assisted Radiology and Surgery | Ausgabe 4/2018

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Abstract

Purpose

In many clinical procedures such as cryoablation that involves needle insertion, accurate placement of the needle’s tip at the desired target is the major issue for optimizing the treatment and minimizing damage to the neighboring anatomy. However, due to the interaction force between the needle and tissue, considerable error in intraoperative tracking of the needle tip can be observed as needle deflects.

Methods

In this paper, measurements data from an optical sensor at the needle base and a magnetic resonance (MR) gradient field-driven electromagnetic (EM) sensor placed 10 cm from the needle tip are used within a model-integrated Kalman filter-based sensor fusion scheme. Bending model-based estimations and EM-based direct estimation are used as the measurement vectors in the Kalman filter, thus establishing an online estimation approach.

Results

Static tip bending experiments show that the fusion method can reduce the mean error of the tip position estimation from 29.23 mm of the optical sensor-based approach to 3.15 mm of the fusion-based approach and from 39.96 to 6.90 mm, at the MRI isocenter and the MRI entrance, respectively.

Conclusion

This work established a novel sensor fusion scheme that incorporates model information, which enables real-time tracking of needle deflection with MRI compatibility, in a free-hand operating setup.

Vorheriger Artikel MRI radiomics analysis of molecular alterations in low-grade gliomas

Nächster Artikel Agile convolutional neural network for pulmonary nodule classification using CT images

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Titel: Kalman filter-based EM-optical sensor fusion for needle deflection estimation
verfasst von: Baichuan Jiang
Wenpeng Gao
Daniel Kacher
Erez Nevo
Barry Fetics
Thomas C. Lee
Jagadeesan Jayender
Publikationsdatum: 07.02.2018
Verlag: Springer International Publishing
Erschienen in: International Journal of Computer Assisted Radiology and Surgery / Ausgabe 4/2018
Print ISSN: 1861-6410
Elektronische ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-018-1708-8

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Abstract

Purpose

Methods

Results

Conclusion

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