ArticleThe international journal of medical robotics + computer assisted surgery : MRCAS2018
Real-time probe tracking using EM-optical sensor for MRI-guided cryoablation.
Article in The international journal of medical robotics + computer assisted surgery : MRCAS, 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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Who cites it
1 citing paper in PubMed, 9 citations in OpenAlex.
- Kalman filter-based EM-optical sensor fusion for needle deflection estimation.International journal of computer assisted radiology and surgery · 2018Article
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Authors and funding
7 authors at 2 institutions in 2 countries.
Funding
Abstract
backgroundA method of real-time, accurate probe tracking at the entrance of the MRI bore is developed, which, fused with pre-procedural MR images, will enable clinicians to perform cryoablation efficiently in a large workspace with image guidance.
methodsElectromagnetic (EM) tracking coupled with optical tracking is used to track the probe. EM tracking is achieved with an MRI-safe EM sensor working under the scanner's magnetic field to compensate the line-of-sight issue of optical tracking. Unscented Kalman filter-based probe tracking is developed to smooth the EM sensor measurements when occlusion occurs and to improve the tracking accuracy by fusing the measurements of two sensors.
resultsExperiments with a spine phantom show that the mean targeting errors using the EM sensor alone and using the proposed method are 2.21 mm and 1.80 mm, respectively.
conclusionThe proposed method achieves more accurate probe tracking than using an EM sensor alone at the MRI scanner entrance.
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Registered trials
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