Electromagnetic Servoing—A New Tracking Paradigm

Reichl, Tobias; Gardiazabal, José; Navab, Nassir

doi:10.1109/tmi.2013.2259636

Cited by 40 publications

(17 citation statements)

References 31 publications

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“…Enhancement of the standardized protocols using such a method would be of great benefit. However, it should be noted that if orientation changes and positional and rotational errors need to be assessed simultaneously, hand-eye calibration would be necessary and this might introduce new sources of error [149].…”

Section: Discussionmentioning

confidence: 99%

“…Recently, the NDI Compact FG (see Sec. 3-D) was combined with a robot plus an additional optical tracking system to constantly move the FG such that the sensor stays in a central area of the EM field where accuracy is best [149]. Alternatives to completely replace EM tracking have been proposed when additional information of the tracked instrument is available, such as a color or range image of an endoscope [80,116].…”

Section: Discussionmentioning

confidence: 99%

See 1 more Smart Citation

Electromagnetic Tracking in Medicine—A Review of Technology, Validation, and Applications

Franz

Haidegger

Birkfellner

et al. 2014

IEEE Trans. Med. Imaging

382

273

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Abstract-Object tracking is a key enabling technology in the context of computer-assisted medical interventions. Allowing the continuous localization of medical instruments and patient anatomy, it is a prerequisite for providing instrument guidance to subsurface anatomical structures. The only widely used technique that enables real-time tracking of small objects without lineof-sight restrictions is electromagnetic (EM) tracking. While EM tracking has been the subject of many research efforts, clinical applications have been slow to emerge. The aim of this review paper is therefore to provide insight into the future potential and limitations of EM tracking for medical use. We describe the basic working principles of EM tracking systems, list the main sources of error, and summarize the published studies on tracking accuracy, precision and robustness along with the corresponding validation protocols proposed. State-of-the-art approaches to error compensation are also reviewed in depth. Finally, an overview of the clinical applications addressed with EM tracking is given. Throughout the paper, we report not only on scientific progress, but also provide a review on commercial systems. Given the continuous debate on the applicability of EM tracking in medicine, this paper provides a timely overview of the state-of-the-art in the field.

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Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

Electromagnetic Tracking in Medicine—A Review of Technology, Validation, and Applications

Franz

Haidegger

Birkfellner

et al. 2014

IEEE Trans. Med. Imaging

382

273

View full text Add to dashboard Cite

show abstract

“…5. The dependencies of voltage V(D0) at the diode on current I(I0) for the following temperature values: Temperature = 0C (1); 20C (2); 40C (4); 60C (4); 80C (5); 100C (6) At the second stage, we carried out an investigation aimed at the adjustment of the diode SPICE model parameters taking into account the discrepancies between the diode characteristic and the theoretical mathematical dependencies for p-n junctions. For the most part, such discrepancies are attributed to the fact that the diode volt-ampere characteristic is influenced by the emission of charge carriers in the p-n barrier and parasitic resistance of its semiconductor structure.…”

Section: Signal Converter Verificationmentioning

confidence: 99%

“…Modern solutions for magnetic tracking include AR IoT, a universal framework that conforms with the AR and Internet of Things (IoT) concepts [5]; data fusion in medical imaging devices [6]; surgical instruments navigation in medical equipment [7]; biomedical engineering technologies including those for monitoring orofacial kinematics [8]; flexible robot mechatronics tools [9], etc. Magnetic tracking systems can be implemented upon specialized or unified coils [10].…”

Section: Introductionmentioning

confidence: 99%

Measuring Logarithmic Signal Converter for Magnetic Tracking Systems

Holyaka¹,

Marusenkova²,

Fedasyuk³

2020

MEM

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The work deals with the problem of signal conversion in magnetic tracking systems. Magnetic tracking systems are a novel development trend of navigation sensors within the concepts of the Internet of Things and virtual and augmented reality. In contrast to optical tracking systems, magnetic ones do not suffer from occlusions. In comparison with tracking systems built upon inertial sensors, they are not susceptible to bias drift and provide better accuracy. Magnetic tracking technology is based on calculating the position of objects upon the dynamic measurement of the reference magnetic field vectors. The reference magnetic fields are formed by arrays of actuator coils in the low-frequency electromagnetic radiation spectrum. Those who implement a magnetic tracking system have to ensure noise-immune measurements of signals coming from sensor coils in a wide dynamic measurement range. The range changes from microvolts for distances of several meters in couples "actuator-sensor" to hundreds of millivolts in the case if the distances in "actuator-sensor" couples reduce to several centimeters. Thus, one requires signal converters able to provide highly noise-immune measurements in a dynamic measurement range covering six orders of magnitude. The work presents the results of development, simulation, and investigation into a signal converter for magnetic tracking systems, whose novelty consists in combining the methods of logarithmic amplification and synchronous demodulation of the output signals of the sensor coils. The main nodes of the developed signal converter are a control unit, a logarithmic amplifier, a synchronous demodulator, a low-pass filter, an actuator driver and an analog-to-digital converter. Voltage logarithm compression has been performed upon volt-ampere characteristics of semiconductor p-n junctions. The synchronous demodulator provides a high level of selection of the useful signal out of electromagnetic noise. The results presented in this paper are part of our complex research work related to the development of the Magnetic Tracking System Integrated Development Environment (MTS-IDE). The latter is being developed by a team of scholars within different projects and is aimed at enhancing the efficacy of parametric optimization and synthesizing firmware of embedded systems implementing integrated magnetic tracking sensors. Simulation and experiments have shown that the dynamic range of noise-immune signal measurement using the developed converter covers six orders of magnitude, from 1E-6 V to 1 V. Investigation into functionality were conducted by oscillograph methods. The characteristics of the proposed solution were measured by the above-mentioned MTS-IDE. The obtained results are of key importance for further improvement of magnetic tracking systems, particularly, for their noise-immune measurement volume expansion.

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“…Known challenges for these systems include non-uniform accuracy throughout the volume of interest, a clear line-of-sight requirement for optical trackers and EM fields being subject to distortions by metallic equipment, ubiquitous to surgical suites. Previous assessments [1,2] of these systems in the clinical arena report accuracies ~2 mm target registration error (TRE), with higher errors within dynamic EM fields [3]. …”

Section: Introductionmentioning

confidence: 99%

2D–3D radiograph to cone-beam computed tomography (CBCT) registration for C-arm image-guided robotic surgery

et al. 2014

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Purpose C-arm radiographs are commonly used for intraoperative image guidance in surgical interventions. Fluoroscopy is a cost-effective real-time modality, although image quality can vary greatly depending on the target anatomy. Cone-beam computed tomography (CBCT) scans are sometimes available, so 2D–3D registration is needed for intra-procedural guidance. C-arm radiographs were registered to CBCT scans and used for 3D localization of peritumor fiducials during a minimally invasive thoracic intervention with a da Vinci Si robot. Methods Intensity-based 2D–3D registration of intraoperative radiographs to CBCT was performed. The feasible range of X-ray projections achievable by a C-arm positioned around a da Vinci Si surgical robot, configured for robotic wedge resection, was determined using phantom models. Experiments were conducted on synthetic phantoms and animals imaged with an OEC 9600 and a Siemens Artis zeego, representing the spectrum of different C-arm systems currently available for clinical use. Results The image guidance workflow was feasible using either an optically tracked OEC 9600 or a Siemens Artis zeego C-arm, resulting in an angular difference of Δθ : ~ 30°. The two C-arm systems provided TREmean ≤ 2.5 mm and TREmean ≤ 2.0 mm, respectively (i.e., comparable to standard clinical intraoperative navigation systems). Conclusions C-arm 3D localization from dual 2D–3D registered radiographs was feasible and applicable for intraoperative image guidance during da Vinci robotic thoracic interventions using the proposed workflow. Tissue deformation and in vivo experiments are required before clinical evaluation of this system.

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Electromagnetic Servoing—A New Tracking Paradigm

Cited by 40 publications

References 31 publications

Electromagnetic Tracking in Medicine—A Review of Technology, Validation, and Applications

Electromagnetic Tracking in Medicine—A Review of Technology, Validation, and Applications

Measuring Logarithmic Signal Converter for Magnetic Tracking Systems

2D–3D radiograph to cone-beam computed tomography (CBCT) registration for C-arm image-guided robotic surgery

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