Magnetic tracking using a modular C++ environment for image-guided interventions
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Date
2021-11-09
Authors
Cavaliere, Marco
Walsh, Conor
Jaeger, Herman Alexander
O'Donoghue, Kilian
Cantillon-Murphy, Pádraig
Journal Title
Journal ISSN
Volume Title
Publisher
Taylor & Francis
Published Version
Abstract
Magnetic tracking enables instrument tracking for image-guided interventions when no line of sight is available. This paper describes the first steps towards a more cost-effective, modular, and adaptable approach that builds upon prior work in open hardware architectures for magnetic tracking in image-guided interventions. An exemplary C++ framework is implemented and demonstrated with the open-hardware Anser EMT system. System performance in speed, accuracy, and precision of the C++ implementation is analysed. Static positioning accuracy and precision are calculated within the Region of Interest (ROI) and an average position error of 1.0 (Formula presented.) 0.1 mm is demonstrated. Results show an indicative increase in the update rate using the C++ framework and substantially lower memory requirements, compared to the previously optimised Python and Matlab solvers. These preliminary results provide the basis for future development which will integrate the C++ framework in a 3D Slicer module, greatly extending the adaptability of the platform for customisation in advanced image-guided procedures.
Description
Keywords
C++ framework , Magnetic tracking , Open-source
Citation
Cavaliere, M., Walsh, C., Jaeger, H. A., O'Donoghue, K. and Cantillon-Murphy, P. (2021) 'Magnetic tracking using a modular C++ environment for image-guided interventions', Computer Methods in Biomechanics and Biomedical Engineering: Imaging and Visualization. doi: 10.1080/21681163.2021.1998926
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Copyright
© 2021 Taylor & Francis Group, LLC. This is an Accepted Manuscript of an item published by Taylor & Francis in Computer Methods in Biomechanics and Biomedical Engineering: Imaging and Visualization on 9 November 2021, available online: https://doi.org/10.1080/21681163.2021.1998926