Journal
INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY
Volume 17, Issue 6, Pages -Publisher
WILEY
DOI: 10.1002/rcs.2327
Keywords
2D; 3D registration; 3D localisation; computer-assisted surgery; electromagnetic tracking system; endovascular procedures; fibre optical shape sensing
Categories
Funding
- Ministerium fur Wirtschaft, Verkehr, Arbeit, Technologie und Tourismus, SchleswigHolstein
- Bundesministerium fur Bildung und Forschung [13GW0228]
- Projekt DEAL
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Two novel approaches for obtaining three-dimensional instrument positions are introduced in this study – one tracking based and one image processing based. The tracking based method shows promising results for usage in EVAR procedures, while the image-based approach is more suitable for applications in smaller vessels.
Background In endovascular aneuysm repair (EVAR) procedures, medical instruments are currently navigated with a two-dimensional imaging based guidance requiring X-rays and contrast agent. Methods Novel approaches for obtaining the three-dimensional instrument positions are introduced. Firstly, a method based on fibre optical shape sensing, one electromagnetic sensor and a preoperative computed tomography (CT) scan is described. Secondly, an approach based on image processing using one 2D fluoroscopic image and a preoperative CT scan is introduced. Results For the tracking based method, average errors from 1.81 to 3.13 mm and maximum errors from 3.21 to 5.46 mm were measured. For the image-based approach, average errors from 3.07 to 6.02 mm and maximum errors from 8.05 to 15.75 mm were measured. Conclusion The tracking based method is promising for usage in EVAR procedures. For the image-based approach are applications in smaller vessels more suitable, since its errors increase with the vessel diameter.
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