An evaluation environment for respiratory motion compensation in navigated bronchoscopy
Medical Imaging 2008: Visualization, Image-guided Procedures, and Modeling
For exact orientation inside the tracheobronchial tree, clinicians would greatly profit from a soft tissue navigation system for bronchoscopy. Such an image guided system which gives the ability to show the current position of a bronchoscope (an instrument to inspect the inside of the lung) or a catheter within the tracheobronchial tree, significantly improves orientation inside the complex airway structure and the depth of insertion into it. A major challenge for a bronchoscopy navigation
... opy navigation system is respiratory motion. Recently, more and more developments of navigated bronchoscopy systems use the tracheobronchial centerline in order to develop a compensation for respiratory motion. The implementation and evaluation of the compensation algorithms are assisted by a simulation environment, that provides tracking data similar to the data that has to be processed during a bronchoscopic intervention. Thus we developed an evaluation environment which simulates a random insertion of a tracking sensor into a tracheobronchial tree, adding electromagnetic noise and distortion similar to an operating table, and harmonic respiratory motion to the tracked position. With this environment, a high number of insertion tracks can be created and used to optimize methods for minimizing the electromagnetic tracking error and compensating respiratory movement. The authors encourage other researchers to use this evaluation environment to test different correction and estimation algorithms for navigated bronchoscopy.