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Tracking accuracy evaluation of electromagnetic sensor-based colonoscope tracking method

Masahiro Oda, Hiroaki Kondo, Takayuki Kitasaka, Kazuhiro Furukawa, Ryoji Miyahara, Yoshiki Hirooka, Hidemi Goto, Nassir Navab, Kensaku Mori
2022
This paper reports a detailed evaluation results of a colonoscope tracking method. A colonoscope tracking method utilizing electromagnetic sensors and a CT volume has been proposed.  ...  In this paper, we evaluated the colonoscope tracking method based on more detailed measurement results of the tracking errors.  ...  Tracking accuracy evaluation of electromagnetic sensor-based colonoscope tracking method  ... 
doi:10.48550/arxiv.2201.07167 fatcat:gfcftdaleba5dbmh44mfrancty

Machine learning-based colon deformation estimation method for colonoscope tracking

Masahiro Oda, Takayuki Kitasaka, Kazuhiro Furukawa, Ryoji Miyahara, Yoshiki Hirooka, Hidemi Goto, Nassir Navab, Kensaku Mori, Robert J. Webster, Baowei Fei
2018 Medical Imaging 2018: Image-Guided Procedures, Robotic Interventions, and Modeling  
The colonoscope shape is obtained using an electromagnetic sensor, and the colon shape is obtained from a CT volume.  ...  An estimation method of colon deformations occur during colonoscope insertions is necessary to reduce tracking errors. We propose a colon deformation estimation method.  ...  As related work of colonoscope tracking, many bronchoscope tracking methods have been proposed. These methods include image-based and sensor-based ones.  ... 
doi:10.1117/12.2293936 dblp:conf/miigp/OdaKFMHGNM18 fatcat:fkfu7k2ewrgh3i2432xcggyzim

Colon Shape Estimation Method for Colonoscope Tracking Using Recurrent Neural Networks [chapter]

Masahiro Oda, Holger R. Roth, Takayuki Kitasaka, Kasuhiro Furukawa, Ryoji Miyahara, Yoshiki Hirooka, Hidemi Goto, Nassir Navab, Kensaku Mori
2018 Lecture Notes in Computer Science  
We propose a colon deformation estimation method using RNN and obtain the colonoscope shape from electromagnetic sensors during its insertion into the colon.  ...  Previous tracking methods caused large tracking errors at the transverse and sigmoid colons because these areas largely deform during colonoscope insertion.  ...  Parts of this research were supported by the MEXT, the JSPS KAKENHI Grant Numbers 26108006, 17H00867, the JSPS Bilateral International Collaboration Grants, and the JST ACT-I (JPMJPR16U9).  ... 
doi:10.1007/978-3-030-00937-3_21 fatcat:2vwyavnnyjfhfc2jojf7y5wk5u

Colonoscope tracking method based on shape estimation network

Masahiro Oda, Holger R. Roth, Takayuki Kitasaka, Kazuhiro Furukawa, Ryoji Miyahara, Yoshiki Hirooka, Nassir Navab, Kensaku Mori, Cristian A. Linte, Baowei Fei
2019 Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling  
The proposed tracking method performs mapping of the colonoscope tip position to a position in the colon using estimation results of the SEN. We evaluated the proposed method in a phantom study.  ...  Previous colonoscope tracking methods caused large tracking errors because they do not consider deformations of the colon during colonoscope insertions.  ...  EXPERIMENTS Materials We evaluated the proposed colonoscope tracking method in phantom-based experiments.  ... 
doi:10.1117/12.2512729 dblp:conf/miigp/OdaRKFMHNM19 fatcat:ybbhhqadifavnemewjdn7e2jlm

An optical flow approach to tracking colonoscopy video

Jianfei Liu, Kalpathi R. Subramanian, Terry S. Yoo
2013 Computerized Medical Imaging and Graphics  
We constructed two colon like phantoms, a straight phantom and a curved phantom to measure actual colonoscopy motion; tracking accuracy was quantitatively evaluated by comparing estimated motion parameters  ...  We performed extensive evaluation via a colon phantom and clinical colonoscopy data.  ...  Ching [12] introduced a commercially available electromagnetic sensor to track an optical colonoscope. Validation experiments using their system on rigid phantoms showed promising results.  ... 
doi:10.1016/j.compmedimag.2013.01.010 pmid:23490235 fatcat:ug5zowqeznawffjbq4df4xqweu

Pose reconstruction of flexible instruments from endoscopic images using markers

Rob Reilink, Stefano Stramigioli, Sarthak Misra
2012 2012 IEEE International Conference on Robotics and Automation  
An experiment was performed in which the instrument was moved inside a colon model, while the tip position was simultaneously measured with an electromagnetic tracking system.  ...  The pseudo-inverse of the interaction matrix between the state of the model and the marker positions in the image is used to update the state such that the model will track the real instrument.  ...  This is in the same order of magnitude as the accuracy of the electromagnetic tracking system. The orientation accuracy was not evaluated.  ... 
doi:10.1109/icra.2012.6224631 dblp:conf/icra/ReilinkSM12 fatcat:l75xqmdk25conop5gxi2nqwohm

Bronchoscopy Navigation beyond Electromagnetic Tracking Systems: A Novel Bronchoscope Tracking Prototype [chapter]

Xiongbiao Luo, Takayuki Kitasaka, Kensaku Mori
2011 Lecture Notes in Computer Science  
A novel bronchoscope tracking prototype was designed and validated for bronchoscopic navigation.  ...  We construct a novel mouth-or nose-piece bronchoscope model to directly measure the movement information of a bronchoscope outside of a patient's body.  ...  To evaluate the tracking accuracy of the three methods, we generate two sets of ground truth data (GTD) using manual registration to align the RB and virtual bronchoscopic (VB) viewing points by hand.  ... 
doi:10.1007/978-3-642-23623-5_25 fatcat:lsi3xqt6tzdkdpaleucunsp4vm

Shape Reconstruction Processes for Interventional Application Devices: State of the Art, Progress, and Future Directions

Sujit Kumar Sahu, Canberk Sozer, Benoit Rosa, Izadyar Tamadon, Pierre Renaud, Arianna Menciassi
2021 Frontiers in Robotics and AI  
Yet, the problem of electromagnetic interference in the case of EM sensors, and poor response to high strains in the case of FBG sensors need to be considered.  ...  For example, electromagnetic (EM) and Fiber Bragg Grating (FBG) sensor-based shape reconstruction methods can be used in small-scale robots due to their advantages thanks to miniaturization, fast response  ...  Ryu et al. proposed a method to reconstruct the shape and evaluate the contact force of a colonoscope (Ryu et al., 2020) .  ... 
doi:10.3389/frobt.2021.758411 pmid:34869615 pmcid:PMC8640970 fatcat:ai5dvdz42bg77bkdkltc7u4x3i

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

Alfred M. Franz, Tamas Haidegger, Wolfgang Birkfellner, Kevin Cleary, Terry M. Peters, Lena Maier-Hein
2014 IEEE Transactions on Medical Imaging  
The only widely used technique that enables real-time tracking of small objects without lineof-sight restrictions is electromagnetic (EM) tracking.  ...  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  ...  The manufacturers of EM tracking systems Northern Digital Inc., Polhemus Inc. and Varian Medical Systems Inc. kindly provided pictures of their products for this publication.  ... 
doi:10.1109/tmi.2014.2321777 pmid:24816547 fatcat:jqqkworlnngizgomkwi2m6juwa

Front Matter: Volume 9786

2016 Medical Imaging 2016: Image-Guided Procedures, Robotic Interventions, and Modeling  
.  The last two digits indicate publication order within the volume using a Base 36 numbering system employing both numerals and letters. These two-number sets start with 00, 01, 02, 03, 04,  ...  Publication of record for individual papers is online in the SPIE Digital Library. SPIEDigitalLibrary.org Paper Numbering: Proceedings of SPIE follow an e-First publication model.  ...  and disparity range stabilization: a comparison of different feature detectors [9786-47] 9786 1D Position-based adjustment of landmark-based correspondence finding in electromagnetic sensor-based  ... 
doi:10.1117/12.2240097 dblp:conf/miigp/X16 fatcat:e2sr443rvfa7rcz24tfpgb44gy

Modeling and In Vitro Experimental Validation for Kinetics of the Colonoscope in Colonoscopy

Wu-Bin Cheng, Yun-Yun Di, Edwin M. Zhang, Michael A. J. Moser, Sivaruban Kanagaratnam, Louis Y. Korman, Noune Sarvazyan, Wen-Jun Zhang
2013 Annals of Biomedical Engineering  
The model utilizes an established colon model based on animal tissue with position tracking sensors, contact force sensors for the intraluminal portion of the scope and a Colonoscopy Force Monitor for  ...  Although, several solutions such as modifying the stiffness of the colonoscope, using an overtube and developing image-guided instruments have been introduced to resolve the looping problem, the results  ...  Development of the CFM was supported by the Grant R44DK068936 from the National Institute Of Diabetes And Digestive And Kidney Diseases.  ... 
doi:10.1007/s10439-013-0746-1 pmid:23358801 pmcid:PMC3625492 fatcat:d22taktktnhsbm2tjra3qbg3fq

Robust electromagnetically guided endoscopic procedure using enhanced particle swarm optimization for multimodal information fusion

Xiongbiao Luo, Ying Wan, Xiangjian He
2015 Medical Physics (Lancaster)  
(i.e., computed tomography images) as a frame of reference, endoscopic camera videos, and positional sensor measurements (i.e., electromagnetic sensor outputs).  ...  The average guidance accuracy or error of our framework was about 3.0 mm and 5.6 • while the previous methods show at least 3.9 mm and 7.0 • .  ...  Evaluation criteria To evaluate the guidance accuracy of different methods, we generated five ground truth datasets (GTDs) by manually adjusting the position and orientation of the virtual camera to qualitatively  ... 
doi:10.1118/1.4915285 pmid:25832071 fatcat:fvp4z5zw7rgevpkrd642di57wy

Frontiers of robotic endoscopic capsules: a review

Gastone Ciuti, R. Caliò, D. Camboni, L. Neri, F. Bianchi, A. Arezzo, A. Koulaouzidis, S. Schostek, D. Stoyanov, C. M. Oddo, B. Magnani, A. Menciassi (+3 others)
2016 Journal of Micro-Bio Robotics  
With the integration of further capabilities based on microrobotics, e.g. active locomotion and embedded therapeutic modules, WCE could become the key-technology for GI diagnosis and treatment.  ...  Thus, it has the advantage of encouraging patients to undergo gastrointestinal (GI) tract examinations and of facilitating mass screening programmes.  ...  The authors thank all the collaborators of the EndoVESPA EU project (www. endovespa.eu).  ... 
doi:10.1007/s12213-016-0087-x pmid:29082124 pmcid:PMC5646258 fatcat:hhlj2giqd5fmbmpos4bdndi6j4

Shape estimation for image-guided surgery with a highly articulated snake robot

S. Tully, G. Kantor, M. A. Zenati, H. Choset
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Our algorithm introduces new kinematic models that are used in the prediction step of an extended Kalman filter whose update step incorporates measurements from a 5-DOF electromagnetic tracking sensor  ...  A single tracking sensor is sufficient for estimating the shape of the system because the robot is inherently a follow-the-leader mechanism with well defined motion characteristics.  ...  the robot from an electromagnetic tracking sensor.  ... 
doi:10.1109/iros.2011.6048359 fatcat:ozfmxoajjza3bbg2t47gcrpiri

Shape estimation for image-guided surgery with a highly articulated snake robot

S. Tully, G. Kantor, M. A. Zenati, H. Choset
2011 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems  
Our algorithm introduces new kinematic models that are used in the prediction step of an extended Kalman filter whose update step incorporates measurements from a 5-DOF electromagnetic tracking sensor  ...  A single tracking sensor is sufficient for estimating the shape of the system because the robot is inherently a follow-the-leader mechanism with well defined motion characteristics.  ...  the robot from an electromagnetic tracking sensor.  ... 
doi:10.1109/iros.2011.6094751 dblp:conf/iros/TullyKZC11 fatcat:i52ygpye5bgvzptrhvanykhb6q
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