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Accuracy assessment of target tracking using two 5-degrees-of-freedom wireless transponders

PURPOSE: Surgical navigation systems are generally only applied for targets in rigid areas. For non-rigid areas, real-time tumor tracking can be included to compensate for anatomical changes. The only clinically cleared system using a wireless electromagnetic tracking technique is the Calypso(®) Sys...

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Autores principales: Eppenga, Roeland, Kuhlmann, Koert, Ruers, Theo, Nijkamp, Jasper
Formato: Online Artículo Texto
Lenguaje:English
Publicado: Springer International Publishing 2019
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6989619/
https://www.ncbi.nlm.nih.gov/pubmed/31724113
http://dx.doi.org/10.1007/s11548-019-02088-9
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author Eppenga, Roeland
Kuhlmann, Koert
Ruers, Theo
Nijkamp, Jasper
author_facet Eppenga, Roeland
Kuhlmann, Koert
Ruers, Theo
Nijkamp, Jasper
author_sort Eppenga, Roeland
collection PubMed
description PURPOSE: Surgical navigation systems are generally only applied for targets in rigid areas. For non-rigid areas, real-time tumor tracking can be included to compensate for anatomical changes. The only clinically cleared system using a wireless electromagnetic tracking technique is the Calypso(®) System (Varian Medical Systems Inc., USA), designed for radiotherapy. It is limited to tracking maximally three wireless 5-degrees-of-freedom (DOF) transponders, all used for tumor tracking. For surgical navigation, a surgical tool has to be tracked as well. In this study, we evaluated whether accurate 6DOF tumor tracking is possible using only two 5DOF transponders, leaving one transponder to track a tool. METHODS: Two methods were defined to derive 6DOF information out of two 5DOF transponders. The first method uses the vector information of both transponders (TTV), and the second method combines the vector information of one transponder with the distance vector between the transponders (OTV). The accuracy of tracking a rotating object was assessed for each method mimicking clinically relevant and worst-case configurations. Accuracy was compared to using all three transponders to derive 6DOF (Default method). An optical tracking system was used as a reference for accuracy. RESULTS: The TTV method performed best and was as accurate as the Default method for almost all transponder configurations (median errors < 0.5°, 95% confidence interval < 3°). Only when the angle between the transponders was less than 2°, the TTV method was inaccurate and the OTV method may be preferred. The accuracy of both methods was independent of the angle of rotation, and only the OTV method was sensitive to the plane of rotation. CONCLUSION: These results indicate that accurate 6DOF tumor tracking is possible using only two 5DOF transponders. This encourages further development of a wireless EM surgical navigation approach using a readily available clinical system.
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spelling pubmed-69896192020-02-11 Accuracy assessment of target tracking using two 5-degrees-of-freedom wireless transponders Eppenga, Roeland Kuhlmann, Koert Ruers, Theo Nijkamp, Jasper Int J Comput Assist Radiol Surg Original Article PURPOSE: Surgical navigation systems are generally only applied for targets in rigid areas. For non-rigid areas, real-time tumor tracking can be included to compensate for anatomical changes. The only clinically cleared system using a wireless electromagnetic tracking technique is the Calypso(®) System (Varian Medical Systems Inc., USA), designed for radiotherapy. It is limited to tracking maximally three wireless 5-degrees-of-freedom (DOF) transponders, all used for tumor tracking. For surgical navigation, a surgical tool has to be tracked as well. In this study, we evaluated whether accurate 6DOF tumor tracking is possible using only two 5DOF transponders, leaving one transponder to track a tool. METHODS: Two methods were defined to derive 6DOF information out of two 5DOF transponders. The first method uses the vector information of both transponders (TTV), and the second method combines the vector information of one transponder with the distance vector between the transponders (OTV). The accuracy of tracking a rotating object was assessed for each method mimicking clinically relevant and worst-case configurations. Accuracy was compared to using all three transponders to derive 6DOF (Default method). An optical tracking system was used as a reference for accuracy. RESULTS: The TTV method performed best and was as accurate as the Default method for almost all transponder configurations (median errors < 0.5°, 95% confidence interval < 3°). Only when the angle between the transponders was less than 2°, the TTV method was inaccurate and the OTV method may be preferred. The accuracy of both methods was independent of the angle of rotation, and only the OTV method was sensitive to the plane of rotation. CONCLUSION: These results indicate that accurate 6DOF tumor tracking is possible using only two 5DOF transponders. This encourages further development of a wireless EM surgical navigation approach using a readily available clinical system. Springer International Publishing 2019-11-14 2020 /pmc/articles/PMC6989619/ /pubmed/31724113 http://dx.doi.org/10.1007/s11548-019-02088-9 Text en © The Author(s) 2019 Open AccessThis article is distributed under the terms of the Creative Commons Attribution 4.0 International License (http://creativecommons.org/licenses/by/4.0/), which permits unrestricted use, distribution, and reproduction in any medium, provided you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made.
spellingShingle Original Article
Eppenga, Roeland
Kuhlmann, Koert
Ruers, Theo
Nijkamp, Jasper
Accuracy assessment of target tracking using two 5-degrees-of-freedom wireless transponders
title Accuracy assessment of target tracking using two 5-degrees-of-freedom wireless transponders
title_full Accuracy assessment of target tracking using two 5-degrees-of-freedom wireless transponders
title_fullStr Accuracy assessment of target tracking using two 5-degrees-of-freedom wireless transponders
title_full_unstemmed Accuracy assessment of target tracking using two 5-degrees-of-freedom wireless transponders
title_short Accuracy assessment of target tracking using two 5-degrees-of-freedom wireless transponders
title_sort accuracy assessment of target tracking using two 5-degrees-of-freedom wireless transponders
topic Original Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6989619/
https://www.ncbi.nlm.nih.gov/pubmed/31724113
http://dx.doi.org/10.1007/s11548-019-02088-9
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