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

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

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

Content Provider	IET Digital Library
Author	Min, Zhe Ren, Hongliang Meng, Max Q. H.
Abstract	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.
Starting Page	193
Ending Page	198
Page Count	6
Volume Number	4
e-ISSN	20533713
Issue Number	Issue 5, Oct (2017)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/htl/4/5
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/htl.2017.0065
Journal	Healthcare Technology Letters
Publisher	The Institution of Engineering and Technology
Publisher Date	2017-09-18
Access Restriction	Open
Rights License	Creative Commons Attribution-Non Commercial-No Derivs License (http://creativecommons.org/licenses/by-nc-nd/3.0/)
Subject Keyword	Algebra Biology And Medical Computing Biomedical Imaging/measurement Biomedical Optical Imaging Calibration Computer Vision And Image Processing Technique Coordinate Reference Frame Covariance Matrices Covariance Matrix Decision Making Fiducial Localisation Error First-order Approximation Graph Theory Image Processing Image Registration Image-guided Surgery Linear Algebra Mean Statistics Measurement Standard And Calibration Medical Image Processing Monte Carlo Method Monte Carlo Simulation Method Numerical Analysis Optical And Laser Radiation Optical Tracking Optical Tracking System Optical Tracking System; Optical, Image And Video Signal Processing OTS Patient Care And Treatment Pivot Calibration Uncertainty Probability Theory Restoration RMS Root-mean-square Set Theory Single-rigid Registration Statistics Stochastic Linearised SCUC Surfactant Surgical Tool-tip Tracking Error Distribution Target Localisation Error TLE Total Target Registration Error TTRE TTRE Statistics
Content Type	Text
Resource Type	Article

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