Compensation of Dynamic Electromagnetic Field Distortion Using Simultaneous Localization and Mapping Method With Application in Endobronchial Ultrasound-Transbronchial Needle Aspiration (Ebus-Tbna) Guidance Publisher Pubmed



Navaei Lavasani S^{1, 2} ; Deevband M¹ ; Farnia P^{2, 3} ; Ahmadian A^{2, 3} ; Saghatchi S^{2, 3} Show Affiliations
Source: International Journal of Medical Robotics and Computer Assisted Surgery Published:2020

Abstract

Background: Electromagnetic (EM)-based navigation methods without line-of-sight restrictions may improve lymph node sampling precision in transbronchial needle aspiration (TBNA) procedure. However, EM tracking susceptibility to metallic objects severely declines its precision. Method: We proposed to track the location of a tool in a dynamic bronchial phantom and compensate field distortion in a real-time procedure. Extended Kalman filter simultaneous localization and mapping (EKF-SLAM) algorithm employ the bronchial motion and observations of a redundant sensor. The proposed approach was applied to the phantom with four different amplitudes of breathing motion in the presence of two types of field-distorting objects. Results: The proposed approach improved the accuracy of EM tracking on average from 18.94 ±1.17 mm to 4.59 ±0.29 mm and from 14.2 ±0.69 mm to 4.31 ±0.18mm in the presence of steel and aluminum, respectively. Conclusions: With EM tracking position error reduction based on the EKF-SLAM technique, the approach is appeared promising for a navigated ultrasound TBNA procedure. © 2019 John Wiley & Sons, Ltd.