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Estimation of surgical tool-tip tracking error distribution in coordinate reference frame involving pivot calibration uncertainty

Accurate understanding of surgical tool-tip tracking error is important for decision making in image-guided surgery. In this Letter, the authors present a novel method to estimate/model surgical tool-tip tracking error in which they take pivot calibration uncertainty into consideration. First, a new...

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Detalles Bibliográficos
Autores principales: Min, Zhe, Ren, Hongliang, Meng, Max Q.-H.
Formato: Online Artículo Texto
Lenguaje:English
Publicado: The Institution of Engineering and Technology 2017
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5683247/
https://www.ncbi.nlm.nih.gov/pubmed/29184664
http://dx.doi.org/10.1049/htl.2017.0065
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author Min, Zhe
Ren, Hongliang
Meng, Max Q.-H.
author_facet Min, Zhe
Ren, Hongliang
Meng, Max Q.-H.
author_sort Min, Zhe
collection PubMed
description Accurate understanding of surgical tool-tip tracking error is important for decision making in image-guided surgery. In this Letter, the authors present a novel method to estimate/model surgical tool-tip tracking error in which they take pivot calibration uncertainty into consideration. First, a new type of error that is referred to as total target registration error (TTRE) is formally defined in a single-rigid registration. Target localisation error (TLE) in two spaces to be registered is considered in proposed TTRE formulation. With first-order approximation in fiducial localisation error (FLE) or TLE magnitude, TTRE statistics (mean, covariance matrix and root-mean-square (RMS)) are then derived. Second, surgical tool-tip tracking error in optical tracking system (OTS) frame is formulated using TTRE when pivot calibration uncertainty is considered. Finally, TTRE statistics of tool-tip in OTS frame are then propagated relative to a coordinate reference frame (CRF) rigid-body. Monte Carlo simulations are conducted to validate the proposed error model. The percentage passing statistical tests that there is no difference between simulated and theoretical mean and covariance matrix of tool-tip tracking error in CRF space is more than 90% in all test cases. The RMS percentage difference between simulated and theoretical tool-tip tracking error in CRF space is within 5% in all test cases.
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spelling pubmed-56832472017-11-28 Estimation of surgical tool-tip tracking error distribution in coordinate reference frame involving pivot calibration uncertainty Min, Zhe Ren, Hongliang Meng, Max Q.-H. Healthc Technol Lett Special Issue on Augmented Environments for Computer-Assisted Interventions Accurate understanding of surgical tool-tip tracking error is important for decision making in image-guided surgery. In this Letter, the authors present a novel method to estimate/model surgical tool-tip tracking error in which they take pivot calibration uncertainty into consideration. First, a new type of error that is referred to as total target registration error (TTRE) is formally defined in a single-rigid registration. Target localisation error (TLE) in two spaces to be registered is considered in proposed TTRE formulation. With first-order approximation in fiducial localisation error (FLE) or TLE magnitude, TTRE statistics (mean, covariance matrix and root-mean-square (RMS)) are then derived. Second, surgical tool-tip tracking error in optical tracking system (OTS) frame is formulated using TTRE when pivot calibration uncertainty is considered. Finally, TTRE statistics of tool-tip in OTS frame are then propagated relative to a coordinate reference frame (CRF) rigid-body. Monte Carlo simulations are conducted to validate the proposed error model. The percentage passing statistical tests that there is no difference between simulated and theoretical mean and covariance matrix of tool-tip tracking error in CRF space is more than 90% in all test cases. The RMS percentage difference between simulated and theoretical tool-tip tracking error in CRF space is within 5% in all test cases. The Institution of Engineering and Technology 2017-09-18 /pmc/articles/PMC5683247/ /pubmed/29184664 http://dx.doi.org/10.1049/htl.2017.0065 Text en http://creativecommons.org/licenses/by-nc-nd/3.0/ This is an open access article published by the IET under the Creative Commons Attribution-NonCommercial-NoDerivs License (http://creativecommons.org/licenses/by-nc-nd/3.0/)
spellingShingle Special Issue on Augmented Environments for Computer-Assisted Interventions
Min, Zhe
Ren, Hongliang
Meng, Max Q.-H.
Estimation of surgical tool-tip tracking error distribution in coordinate reference frame involving pivot calibration uncertainty
title Estimation of surgical tool-tip tracking error distribution in coordinate reference frame involving pivot calibration uncertainty
title_full Estimation of surgical tool-tip tracking error distribution in coordinate reference frame involving pivot calibration uncertainty
title_fullStr Estimation of surgical tool-tip tracking error distribution in coordinate reference frame involving pivot calibration uncertainty
title_full_unstemmed Estimation of surgical tool-tip tracking error distribution in coordinate reference frame involving pivot calibration uncertainty
title_short Estimation of surgical tool-tip tracking error distribution in coordinate reference frame involving pivot calibration uncertainty
title_sort estimation of surgical tool-tip tracking error distribution in coordinate reference frame involving pivot calibration uncertainty
topic Special Issue on Augmented Environments for Computer-Assisted Interventions
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC5683247/
https://www.ncbi.nlm.nih.gov/pubmed/29184664
http://dx.doi.org/10.1049/htl.2017.0065
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AT renhongliang estimationofsurgicaltooltiptrackingerrordistributionincoordinatereferenceframeinvolvingpivotcalibrationuncertainty
AT mengmaxqh estimationofsurgicaltooltiptrackingerrordistributionincoordinatereferenceframeinvolvingpivotcalibrationuncertainty