Comparative Tracking Error Analysis of Five Different Optical Tracking Systems

Khadem, Rasool; Yeh, Chao Hsing; Sadeghi-Tehrani, Mohammad; Bax, Michael R.; Johnson, Jeremy A.; Welch, Jacqueline Nerney; Wilkinson, Eric P.; Shahidi, Ramin

doi:10.3109/10929080009148876

Cited by 155 publications

(36 citation statements)

References 19 publications

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“…As such, tracking precision for the two systems under evaluation has been first tested in a controlled laboratory environment. In agreement with Franz et al [23] and Khadem et al [25], both technologies allow for the localization of static fiducials with sub-millimetre jitter. However, we have found significant dynamic and environmental distortions with the EMTS measurements of up to a few millimetres, which would significantly limit the potential of the EM approach for the tracking of respiratory motion in a clinical environment for gantry based, image-guided proton therapy.…”

Section: Discussionsupporting

confidence: 87%

Monitoring of breathing motion in image-guided PBS proton therapy: comparative analysis of optical and electromagnetic technologies

et al. 2017

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BackgroundMotion monitoring is essential when treating non-static tumours with pencil beam scanned protons. 4D medical imaging typically relies on the detected body surface displacement, considered as a surrogate of the patient's anatomical changes, a concept similarly applied by most motion mitigation techniques. In this study, we investigate benefits and pitfalls of optical and electromagnetic tracking, key technologies for non-invasive surface motion monitoring, in the specific environment of image-guided, gantry-based proton therapy.MethodsPolaris SPECTRA optical tracking system and the Aurora V3 electromagnetic tracking system from Northern Digital Inc. (NDI, Waterloo, CA) have been compared both technically, by measuring tracking errors and system latencies under laboratory conditions, and clinically, by assessing their practicalities and sensitivities when used with imaging devices and PBS treatment gantries. Additionally, we investigated the impact of using different surrogate signals, from different systems, on the reconstructed 4D CT images.ResultsEven though in controlled laboratory conditions both technologies allow for the localization of static fiducials with sub-millimetre jitter and low latency (31.6 ± 1 msec worst case), significant dynamic and environmental distortions limit the potential of the electromagnetic approach in a clinical setting. The measurement error in case of close proximity to a CT scanner is up to 10.5 mm and precludes its use for the monitoring of respiratory motion during 4DCT acquisitions. Similarly, the motion of the treatment gantry distorts up to 22 mm the tracking result.ConclusionsDespite the line of sight requirement, the optical solution offers the best potential, being the most robust against environmental factors and providing the highest spatial accuracy. The significant difference in the temporal location of the reconstructed phase points is used to speculate on the need to apply the same monitoring system for imaging and treatment to ensure the consistency of detected phases.

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Section: Discussionsupporting

confidence: 87%

Monitoring of breathing motion in image-guided PBS proton therapy: comparative analysis of optical and electromagnetic technologies

et al. 2017

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“…In contrast to optical navigation, electromagnetic navigation does not depend on the visual contact between instrument and sensor system (line-of-sight problem in optical navigation), which can be an advantage in cases that require placement of multiple needles in one patient (4,26). However, the electromagnetic tracked field is only 50 Â 50 Â 50 cm vs. 100 Â 100 Â 100 cm in optical navigation (12,(27)(28). Positional jitters are up to 50% of the localization error, errors substantially increase with the offset of the electromagnetic sensor and electromagnetic systems are distorted by ferromagnetic and electrical devices, the CT scanner and metal in the CT table (20,(29)(30).…”

Section: Discussionmentioning

confidence: 93%

Targeting accuracy of CT-guided stereotaxy for radiofrequency ablation of liver tumours

Widmann

Schullian

Haidu

et al. 2011

Minimally Invasive Therapy & Allied Technologies

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The targeting accuracy during CT-guided stereotactic radiofrequency ablation (SRFA) of liver tumours was evaluated in a clinical study. Patients under general anaesthesia were immobilized using a vacuum cushion and respiratory motion control was based on temporary disconnections of the endotracheal tube. An optical-based navigation system was used for 3D trajectory planning and needle placement via a stereotactic aiming device. A control CT with the needles in place was fused with the planning CT for accuracy evaluation. Sub-analysis was performed for "location" (liver segments II-VIII), "approach" (intercostal or transabdominal), "properties" (clear parenchymal, subcapsular, subphrenic, fat, and subphrenic plus fat), and "path length". In 20 patients with 35 liver lesions, a total of 145 needles were placed with mean (±SD) lateral errors of 3.6 ± 2.5 mm at the needle tip, angular errors of 1.3° ± 1.2°, and longitudinal errors at the needle tip of -7.4 ± 6.2 mm. No puncture-related complications were noted. No significant differences of angular errors between segments, approach and properties were recorded. Long paths correlated with smaller angular errors. CT-guided stereotaxy can be considered safe and provided precise multiple needle placement for SRFA of liver lesions at arbitrary trajectories in various segments and locations.

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“…The optical tracking [Khadem et al, 2000] is the gold standard in image-guided pelvic surgery. However, the crowded working space sometimes may block the line-of-sight of the optical cameras and make it inaccurate or even incur loss of tracking.…”

Section: Remarks On Optical Tracking Systemsmentioning

confidence: 99%

Investigation of Navigation and Robotic System for Computer Assisted Orthopedic Surgery: State-of-Art and Preliminary Results

Ren

Meng

2009

Int. J. Inf. Acquisition

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In order to help surgeons improve tool insertion accuracy in pelvic-acetabular surgery, it is very important to take advantage of the emerging navigation, guidance and robotics technologies. The computer integrated surgical system is promising for pelvic-acetabular surgery. In most of the procedures of pelvic-acetabular surgery, such as drilling or milling operations, there are many delicate operations involving inserting the tools accurately and precisely in a confined workspace. This article mainly investigates the most important two subsystems: navigation and robotic system, which perform sensing and actuating tasks, respectively.For navigation subsystem, a remark is made between the state-of-art optical tracking systems (OTS). A hybrid tracking method is proposed to integrate optical tracking and inertial sensing techniques, and some preliminary results are given through the proofof-concepts experiments. For robotics subsystem, we survey the existing studies on the orthopedic compliant robot arms, together with our proposals for the pelvic surgery. We investigate some of the industrial robotics arms with good repeatability and dexterity while positioning the surgical tools.

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Comparative Tracking Error Analysis of Five Different Optical Tracking Systems

Abstract: Both FlashPoint and Polaris have jitter less than 0.11 mm, although the error distributions differ significantly. Total jitter for all systems is dominated by the component measured in the axis directed away from the camera.

Cited by 155 publications

References 19 publications

Monitoring of breathing motion in image-guided PBS proton therapy: comparative analysis of optical and electromagnetic technologies

Monitoring of breathing motion in image-guided PBS proton therapy: comparative analysis of optical and electromagnetic technologies

Targeting accuracy of CT-guided stereotaxy for radiofrequency ablation of liver tumours

Investigation of Navigation and Robotic System for Computer Assisted Orthopedic Surgery: State-of-Art and Preliminary Results

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