NDLI: Electromagnetic Servoing—A New Tracking Paradigm

Content Provider	IEEE Xplore Digital Library
Author	Reichl, T. Gardiazabal, J. Navab, N.
Copyright Year	1982
Abstract	Electromagnetic (EM) tracking is highly relevant for many computer assisted interventions. This is in particular due to the fact that the scientific community has not yet developed a general solution for tracking of flexible instruments within the human body. Electromagnetic tracking solutions are highly attractive for minimally invasive procedures, since they do not require line of sight. However, a major problem with EM tracking solutions is that they do not provide uniform accuracy throughout the tracking volume and the desired, highest accuracy is often only achieved close to the center of tracking volume. In this paper, we present a solution to the tracking problem, by mounting an EM field generator onto a robot arm. Proposing a new tracking paradigm, we take advantage of the electromagnetic tracking to detect the sensor within a specific sub-volume, with known and optimal accuracy. We then use the more accurate and robust robot positioning for obtaining uniform accuracy throughout the tracking volume. Such an EM servoing methodology guarantees optimal and uniform accuracy, by allowing us to always keep the tracked sensor close to the center of the tracking volume. In this paper, both dynamic accuracy and accuracy distribution within the tracking volume are evaluated using optical tracking as ground truth. In repeated evaluations, the proposed method was able to reduce the overall error from 6.64 ± 7.86 mm to a significantly improved accuracy of 3.83 ± 6.43 mm. In addition, the combined system provides a larger tracking volume, which is only limited by the reach of the robot and not the much smaller tracking volume defined by the magnetic field generator.
Sponsorship	IEEE Engineering in Medicine and Biology Society IEEE Nuclear and Plasma Sciences Society IEEE Signal Processing Society IEEE Ultrasonics, Ferroelectrics, and Frequency Control Society
Page Count	10
File Size	1386761
Starting Page	1526
Ending Page	1535
File Format	PDF
ISSN	02780062
Volume Number	32
Issue Number	8
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2013-01-01
Publisher Place	U.S.A.
Access Restriction	One Nation One Subscription (ONOS)
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Tracking Accuracy Generators Optical sensors Adaptive optics robotics and human–robot interaction Instrument and patient localization and tracking motion modeling and compensation planning and image guidance of interventions
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering Computer Science Applications Radiological and Ultrasound Technology Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Electromagnetic Servoing—A New Tracking Paradigm

Visual servoing path tracking for safe human-robot interaction

Texture Features Selection for Visual Servoing of the Beating Heart

Simultaneous acquisition of 4D ultrasound and wireless electromagnetic tracking for in-vivo accuracy validation

Visual motion planning for mobile robots

Optimal motion planning in the image plane for mobile robots

Multi-Robot Terrain Servoing with Proximity Sensors

Control of an ultrasound probe by adaptive visual servoing

Practical motion planning with visual constraints

Electromagnetic Servoing—A New Tracking Paradigm

Similar Documents

Electromagnetic Servoing—A New Tracking Paradigm

Visual servoing path tracking for safe human-robot interaction

Texture Features Selection for Visual Servoing of the Beating Heart

Simultaneous acquisition of 4D ultrasound and wireless electromagnetic tracking for in-vivo accuracy validation

Visual motion planning for mobile robots

Optimal motion planning in the image plane for mobile robots

Multi-Robot Terrain Servoing with Proximity Sensors

Control of an ultrasound probe by adaptive visual servoing

Practical motion planning with visual constraints

Electromagnetic Servoing—A New Tracking Paradigm