Target tracking errors for 5D and 6D spatial measurement systems

IEEE Transactions on Medical Imaging

Volumn 29, Issue 3, 2010, Pages 879-894

  Wiles, Andrew D ^a   Peters, Terry M ^a  

^a ROBARTS RESEARCH INSTITUTE   (Canada)

Author keywords

Anisotropic fiducial localizer error; Magnetic tracking; Point based registration; Target tracking error (TTE); TTE model

Indexed keywords

ANISOTROPIC FIDUCIAL LOCALIZER ERROR; DISTRIBUTED RANDOM VARIABLES; FIRST-ORDER APPROXIMATIONS; FUNDAMENTAL UNITS; IMAGE GUIDED SURGERY; MAGNETIC TRACKING; MAGNETIC TRACKING SYSTEMS; MINIMALLY INVASIVE; MONTE CARLO SIMULATION; OPTICAL TRACKING; POINT-BASED; REGISTRATION METHODS; ROTATIONAL DEGREES; SPATIAL MEASUREMENTS; STATISTICAL MODELS; SURGICAL GUIDANCE; SYSTEM MEASUREMENT; SYSTEMATIC BIAS; TARGET LOCATION; TARGET REGISTRATION ERRORS; TTE MODEL;

ANISOTROPY; COMPUTER SIMULATION; COMPUTERIZED TOMOGRAPHY; MEASUREMENT ERRORS; MONTE CARLO METHODS; NORMAL DISTRIBUTION; RANDOM PROCESSES; RANDOM VARIABLES; TARGETS; UNCERTAINTY ANALYSIS;

TARGET TRACKING;

ALGORITHM; ANIMAL; ANISOTROPY; ARTICLE; COMPUTER ASSISTED SURGERY; COMPUTER SIMULATION; ECHOGRAPHY; HEART SURGERY; IMAGE PROCESSING; METHODOLOGY; MONTE CARLO METHOD; STATISTICAL MODEL; SWINE; THEORETICAL MODEL;

ALGORITHMS; ANIMALS; ANISOTROPY; CARDIAC SURGICAL PROCEDURES; COMPUTER SIMULATION; IMAGE PROCESSING, COMPUTER-ASSISTED; MODELS, STATISTICAL; MODELS, THEORETICAL; MONTE CARLO METHOD; SURGERY, COMPUTER-ASSISTED; SWINE; ULTRASONOGRAPHY;

EID: 77749264207     PISSN: 02780062     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMI.2009.2039344     Document Type: Article

References (42)

1. C. R. Maurer Jr.,J.J. McCrory, and J. M.Fitzpatrick, " Estimationofac-curacy in localizing externally attached markers in multimodal volume head images," in Proc. SPIE Med. Imag., M. H. Loew, Ed., Newport Beach, CA, Feb. 1993, vol.1898, pp. 43-54.
2. C. R. Maurer Jr., J. M. Fitzpatrick, M. Y. Wang, R. L. Galloway Jr., R. J. Maciunas, and G. S. Allen, "Registration of head volume images using implantable fiducial markers," IEEE Trans. Med. Imag., vol.16, no.4, pp. 447-462, Aug. 1997.
3. J. M. Fitzpatrick, J. B. West, and C. R. Maurer, "Predicting error in rigid-body point-based registration," IEEE Trans. Med. Imag., vol.17, no.5, pp. 694-702, Oct. 1998.
4. J. M. Fitzpatrick, "Fiducial registration error and target registration error are uncorrelated," in Proc. Med. Imag. 2009: Visualizat., Image-Guided Procedures, Modeling, M. I. Miga and K. H. Wong, Eds., Lake Buena Vista, FL, 2009, vol.7261, p. 726102.
5. J. M. Fitzpatrick and J. B. West, "The distribution of target registration error in rigid-body point-based registration," IEEE Trans. Med. Imag., vol.20, no.9, pp. 917-927, Sep. 2001.
6. J. B. West and C. R. Maurer Jr., "Designing optically tracked instruments for image-guided surgery," IEEE Trans. Med. Imag., vol.23, no.5, pp. 533-545, May 2004.
7. A. D. Wiles, A. Likholyot, D. D. Frantz, and T. M. Peters, "A statistical model for point-based target registration error with anisotropic fiducial localizer error," IEEE Trans. Med. Imag., vol.27, no.3, pp. 378-390, Mar. 2008.
8. A. D. Wiles and T. M. Peters, "Improved statistical TRE model when using a reference frame," in MICCAI 2007, 10th International Conference on Medical Image Computing and Computer Assisted Intervention, Pt 1, N. Ayache, S. Ourselin, and A. Maeder, Eds. New York: Springer, vol.4791, Lecture Notes in Computer Science, pp. 442-449.
9. A. D. Wiles and T. M. Peters, "Real-time estimation of FLE for point-based registration," in Proc. SPIE Med. Imag. 2009: Visualizat., Image-Guided Procedures, Model., M. I. Miga and K. H. Wong, Eds., Lake Buena Vista, FL, Feb. 2009, vol.7261, p. 72613B.
10. A. D. Wiles and T. M. Peters, "Real-time estimation of FLE statistics for 3D tracking with point-based registration," IEEE Trans. Med. Imag., vol.28, no.9, pp. 1384-1398, Sep. 2009.
11. "Predicting and estimating the accuracy of n-occular optical tracking systems," in Proc. IEEE/ACM International Symposium on Mixed and Augmented Reality ISMAR 2006, Oct. 22-25, 2006, pp. 43-51.
12. T. Sielhorst, M. Bauer, O. Wenisch, G. Klinker, and N. Navab, "Online estimation of the target registration error for n-ocular optical tracking systems," in MICCAI 2007, 10th International Conference on Medical Image Computing and Computer Assisted Intervention, Pt 2, N. Ay-ache, S. Ourselin, and A. Maeder, Eds. New York: Springer, 2007, vol.4792, Lecture Notes in Computer Science, pp. 652-659.
13. M. H. Moghari and P. Abolmaesumi, "A high-order solution for the distribution of target registration error in rigid-body point-based registration," in MICCAI 2006, 9th International Conference on Medical Image Computing and Computer Assisted Intervention, Pt 2, R. Larsen, W. Niessen, and D. Hawkes, Eds. New York: Springer, 2006, vol.9, Lecture Notes in Computer Science, pp. 603-611.
14. M. H. Moghari and P. Abolmaesumi, "Maximum likelihood estimation of the distribution of target registration error," in Med. Imag. 2008: Visualizat. Image-guided Procedures, Model., M. I. Miga and K. R. Cleary, Eds., San Diego, CA, Feb. 2008, vol.6918, p. 69180I.
15. B. Ma and R. E. Ellis, "Analytic expressions for fiducial and surface target registration error," in MICCAI 2006, 9th International Conference on Medical Image Computing and Computer Assisted Intervention, Pt 2, R. Larsen, W. Niessen, and D. Hawkes, Eds. New York: Lecture Notes in Computer Science, 2006, vol.4191, pp. 637-644.
16. B. Ma, M. H. Moghari, R. E. Ellis, and P. Abolmaesumi, "On fiducial target registration error in the presence of anisotropic noise," in MICCAI 2007, 10th International Conference on Medical Image Computing and Computer Assisted Intervention, Pt 2, N. Ayache, S. Ourselin, and A. Maeder, Eds. New York: Springer, 2007, vol.4792, Lecture Notes in Computer Science, pp. 628-635.
17. M. Feuerstein, T. Reichl, J. Vogel, J. Traub, and N. Navab, "Magneto-optical tracking of flexible laparoscopic ultrasound: Model-based online detection and correction of magnetic tracking errors," IEEE Trans. Med. Imag., vol.28, no.6, pp. 951-967, Jun. 2009.
18. Z. Jiang, K. Mori, Y. Nimura, M. Feuerstein, T. Kitasaka, Y. Suenaga, Y. Hayashi, E. Ito, M. Fujii, T. Nagatani, Y. Kajita, T. Wakabayashi, and J. Yoshida, "An improved method for compensating ultra-tiny electromagnetic tracker utilizing position and orientation information and its application to a flexible neuroendoscopic surgery navigation system," in Med. Imag. 2009: Visualizat., Image-Guided Procedures, Model., M. I. Miga and K. H. Wong, Eds., Lake Buena Vista, FL, USA, 2009, vol.7261, p. 72612T.
19. B. K. P. Horn, "Closed-form solution of absolute orientation using unit quaternions," J. Opt. Soc. Am. A, vol.4, no.4, pp. 629-642, Apr. 1987.
20. J. Diebel, Representing attitude: Euler angles, unit quaternions, and rotation vectors Stanford Univ., Stanford, CA, Tech. Rep., Oct. 2006 [Online]. Available: http://ai.stanford.edu/diebel/attitude/attitude.pdf
21. K. Shoemake, "Animating rotation with quaternion curves," in SIG-GRAPH'85: Proc. 12th Annu. Conf. Computer Graphics Interactive Te ch., New York, NY, 1985, pp. 245-254.
22. J. Hummel, M. R. Bax, M. L. Figl, Y. Kang, C. Maurer Jr., W. Birk-fellner, H. Bergmann, and R. Shahidi, "Design and application of an assessment protocol for electromagnetic tracking systems," Med. Phys., vol.32, no.7, pp. 2371-2379, Jul. 2005.
23. C. Nafis, V. Jensen, L. Beauregard, and P. Anderson, "Method for estimating dynamic EM tracking accuracy of surgical navigation tools," in Proceedings of SPIE, Medical Imaging, Visualization, Image-Guided Procedures, and Display, K. R. Cleary and R. L. Galloway Jr., Eds., San Diego, CA, Feb. 2006, vol.6141.
24. K. V. Mardia and P. E. Jupp, Directional Statistics. Toronto: Wiley, 2000.
25. W. Bär and F. Dittrich, "Useful formula for moment computation of normal random variables with nonzero means," IEEE Trans. Autom. Control, vol.16, pp. 263-265, Jun. 1971.
26. A. D. Wiles, "Navigation Accuracy of Image-Guided Interventional Systems," Ph.D. dissertation, The University of Western Ontario, London, Ontario, Canada, Aug. 2009.
27. T. W. Anderson, An Introduction to Multivariate Statistical Analysis, 2nd ed. New York: Wiley, 1984.
28. D. D. Frantz, A. D. Wiles, S. E. Leis, and S. R. Kirsch, "Accuracy assessment protocols for electromagnetic tracking system," Phys. Med. Biol., vol.48, pp. 2241-2251, Jul. 2003.
29. C. A. Linte, J. Moore, A. D. Wiles, C. Wedlake, and T. M. Peters, "Virtual reality-enhanced ultrasound guidance: A novel technique for intracardiac interventions," Comput. Aided Surgery, vol.13, no.2, pp. 82-94, Mar. 2008.
30. G. M. Guiraudon, D. L. Jones, D. Bainbridge, J. T. Moore, C. Wed-lake, C. A. Linte, A. D. Wiles, and T. M. Peters, "Off pump atrial septal defect closure using the universal cardiac introducer creation of models of ASDs in the pig: Access and surgical technique," Innovations: Technol. Tech. Cardiothoracic Vascular Surg., vol.4, no.1, pp. 20-26, Jan. 2009.
31. G. M. Guiraudon, "Universal cardiac introducer," U.S. Patent Appl. 2005/0137609 A1, Appl. No. 10/736, 786, Jun. 2005.
32. S. R. Kirsch, C. Schilling, and G. Brunner, "New form factors for sensors and field generators of a magnetic tracking system," in Proc. SPIE, Med. Imag., Visualizat., Image-Guided Procedures, Display, R. L. Galloway, Jr. and K. R. Cleary, Eds., San Diego, CA, Feb. 2005, vol.5744, pp. 216-224.
33. D. G. Gobbi, R. M. Comeau, and T. M. Peters, "Ultrasound probe tracking for real-time ultrasound/MRI overlay and visualization of brain shift," in MICCAI 1999, 2nd International Conference on Medical Image Computing and Computer Assisted Intervention, C. Taylor and A. Colchester, Eds. New York: Springer, 1999, vol.1679, Lecture Notes Computer Science, pp. 920-927.
34. C. Linte, A. D. Wiles, N. Hill, J. Moore, C. Wedlake, G. Guiraudon, D. Jones, D. Bainbridge, and T. M. Peters, "An augmented reality environment for image-guidance of off-pump mitral valve implantation," in Med. Imag. 2007: Visualizat. Image-Guided Procedures, K. R. Cleary and M. I. Miga, Eds., San Diego, CA, 2007, vol. 6509, no. 1, p. 65090N.
35. A. Khamene and F. Sauer, "A novel phantom-less spatial and temporal ultrasound calibration method," in MICCAI 2005, 8th International Conference on Medical Image Computing and Computer Assisted Intervention, Pt. 2. New York: Springer, vol.3750, Lecture Notes Computer Science, pp. 65-72.
36. F. Rousseau, P. Hellier, M.M. Letteboer, W. J. Niessen, and C. Barillot, "Quantitative evaluation of three calibration methods for 3-D freehand ultrasound," IEEE Trans. Med. Imag., vol.25, no.11, pp. 1492-1501, Nov. 2006.
37. A. D. Wiles, J. Moore, C. A. Linte, C. Wedlake, A. Ahmad, and T. M. Peters, "Object identification accuracy under ultrasound enhanced virtual reality for minimally invasive cardiac surgery," in Med. Imag. 2008: Visualizat., Image-guided Procedures, Model., M. I. Miga and K. R. Cleary, Eds., San Diego, CA, USA, 2008, vol. 6918, no. 1, p. 69180E.
38. A. D. Wiles, C. A. Linte, J. Moore, C. Wedlake, and T. M. Peters, "Accuracy of tracked 2D ultrasound during minimally invasive cardiac surgery," in Int. Workshop Augmented Environments for Medical Imaging and Computer-Aided Surgery, New York, Sep. 2008, pp. 28-35.
39. F. Banovac, J. Tang, S. Xu, D. Lindisch, H. Y. Chung, E. B. Levy, T. Chang, M. F. McCullough, Z. Yaniv, B. J. Wood, and K. Cleary, "Precision targeting of liver lesions using a novel electromagnetic navigation device in physiologic phantom and swine," Med. Phys., vol.32, no.8, pp. 2698-2705, Aug. 2005.
40. S. Wesarg, E. A. Firle, B. Schwald, H. Seibert, P. Zogal, and S. Roed-diger, "Accuracy of needle implantation in brachytherapy using a medical AR system: A phantom study," in Med. Imag. 2004: Visualizat., Image-Guided Procedures, Display, R. L. Galloway Jr., Ed., 2004, vol. 5367, no. 1, pp. 341-352.
41. G. M. Guiraudon, D. L. Jones, A. C. Skanes, D. Bainbridge, C. M. Guiraudon, S. M. Jensen, X. Yuan, M. Drangova, and T. M. Peters, "En bloc exclusion of the pulmonary vein region in the pig using off pump, beating, intra-cardiac surgery: A pilot study of minimally invasive surgery for atrial fibrillation," Ann. Thorac Surg., vol.80, no.4, pp. 1417-1423, Oct. 2005.
42. M. S. Lee and R. R. Makkar, "Stem-cell transplantation in Myocar-dial infarction: A status report," Ann. Intern Med., vol.140, no.9, pp. 729-737, 2004.