- Elodie Lugez ORCID:orcid.org/0000-0001-5837-74901,
- Hossein Sadjadi1,
- Chandra P. Joshi2,
- Selim G. Akl3 &
- …
- Gabor Fichtinger1
721Accesses
15Citations
Abstract
Purpose
Electromagnetic (EM) catheter tracking has recently been introduced in order to enable prompt and uncomplicated reconstruction of catheter paths in various clinical interventions. However, EM tracking is prone to measurement errors which can compromise the outcome of the procedure. Minimizing catheter tracking errors is therefore paramount to improve the path reconstruction accuracy.
Methods
An extended Kalman filter (EKF) was employed to combine the nonlinear kinematic model of an EM sensor inside the catheter, with both its position and orientation measurements. The formulation of the kinematic model was based on the nonholonomic motion constraints of the EM sensor inside the catheter. Experimental verification was carried out in a clinical HDR suite. Ten catheters were inserted with mean curvatures varying from 0 to\(6.6~\hbox {m}^{-1}\) in a phantom. A miniaturized Ascension (Burlington, Vermont, USA) trakSTAR EM sensor (model 55) was threaded within each catheter at various speeds ranging from 7.4 to\(32.1~\hbox {mm}\,\hbox {s}^{-1}\). The nonholonomic EKF was applied on the tracking data in order to statistically improve the EM tracking accuracy. A sample reconstruction error was defined at each point as the Euclidean distance between the estimated EM measurement and its corresponding ground truth. A path reconstruction accuracy was defined as the root mean square of the sample reconstruction errors, while the path reconstruction precision was defined as the standard deviation of these sample reconstruction errors. The impacts of sensor velocity and path curvature on the nonholonomic EKF method were determined. Finally, the nonholonomic EKF catheter path reconstructions were compared with the reconstructions provided by the manufacturer’s filters under default settings, namely the AC wide notch and the DC adaptive filter.
Results
With a path reconstruction accuracy of 1.9 mm, the nonholonomic EKF surpassed the performance of the manufacturer’s filters (2.4 mm) by 21% and the raw EM measurements (3.5 mm) by 46%. Similarly, with a path reconstruction precision of 0.8 mm, the nonholonomic EKF surpassed the performance of the manufacturer’s filters (1.0 mm) by 20% and the raw EM measurements (1.7 mm) by 53%. Path reconstruction accuracies did not follow an apparent trend when varying the path curvature and sensor velocity; instead, reconstruction accuracies were predominantly impacted by the position of the EM field transmitter (\( p\le 0.01\)).
Conclusion
The advanced nonholonomic EKF is effective in reducing EM measurement errors when reconstructing catheter paths, is robust to path curvature and sensor speed, and runs in real time. Our approach is promising for a plurality of clinical procedures requiring catheter reconstructions, such as cardiovascular interventions, pulmonary applications (Bender et al. in medical image computing and computer-assisted intervention—MICCAI 99. Springer, Berlin, pp 981–989,1999), and brachytherapy.
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Notes
The path curvature\(\kappa _p\) at each pointp with coordinatesx, y, z was defined as:
\(\kappa _p=\frac{\sqrt{(z''\cdot y'-y''\cdot z')^2+(x''\cdot z'-z''\cdot x')^2+(y''\cdot x'-x''\cdot y')^2}}{(x'^2 +y'^2+ z'^2)^{3/2}}\) where each prime denotes the gradient.
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Authors and Affiliations
Laboratory for Percutaneous Surgery, School of Computing, Queen’s University, Kingston, Canada
Elodie Lugez, Hossein Sadjadi & Gabor Fichtinger
Cancer Centre of Southeastern Ontario, Kingston General Hospital, Kingston, Canada
Chandra P. Joshi
School of Computing, Queen’s University, Kingston, Canada
Selim G. Akl
- Elodie Lugez
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- Hossein Sadjadi
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- Chandra P. Joshi
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- Selim G. Akl
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- Gabor Fichtinger
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Correspondence toElodie Lugez.
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Funding
This work was supported by the Natural Sciences and Engineering Research Council of Canada. Gabor Fichtinger was supported as Cancer Care Ontario Research Chair. Chandra Joshi was supported by the Ride for Dad Foundation, Kingston - Prostate Cancer Research Grant 2013.
Conflict of interest
Elodie Lugez, Hossein Sadjadi, Chandra P. Joshi, Selim G. Akl, and Gabor Fichtinger declare that they have no conflict of interest.
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Lugez, E., Sadjadi, H., Joshi, C.P.et al. Improved electromagnetic tracking for catheter path reconstruction with application in high-dose-rate brachytherapy.Int J CARS12, 681–689 (2017). https://doi.org/10.1007/s11548-017-1534-4
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