Abstract
The intraoperative movement of target organs is currently a key and difficult problem that restricts clinical surgery diagnosis and treatment, especially radiotherapy. Unexpected posture changes can cause the deviation of the target area during the operation, thereby affecting the treatment effect and even causing severe complications. Therefore, it is necessary to track the movement of target organs in real-time and accurately to improve the effect and safety of the surgical treatment. This paper proposes an intraoperative organ motion tracking method based on the fusion of inertial navigation and electromagnetic navigation., which can directly measure the target organ's movement under non-invasive or minimally invasive conditions using the human natural cavity. The proposed method for identifying the magnetic field's interference state uses the extended Kalman filter to fuse the inertial measurement unit and the electromagnetic positioning information to achieve target organ movement tracking under different interference conditions. It effectively improved the real-time and robustness of intraoperative organ tracking. Simultaneously, based on the 9-axis inertial measurement unit and a 6-DOF electromagnetic positioning system, the catheter-type target organ tracker was developed, and then under the simulated electromagnetic interference environment, dynamic and static verification experiments were carried out, respectively. The maximum tracking error of displacement and attitude is 2.75 mm and 0.127 rad, respectively, under severe electromagnetic disturbance through experiments. Under non-electromagnetic interference conditions, its displacement and attitude's maximum tracking errors are 0.94 mm and 0.011 rad, respectively. The results prove that the target organ tracking method based on the fusion of inertial navigation and electromagnetic navigation is feasible. It can realize the tracking and measurement of the target organ's movement within the clinical permission error range.
Highlights
Intraoperative dynamic real-time tracking of target organs is a critical issue and difficulty that currently restricts clinical surgery diagnosis and treatment [1]
When the electromagnetic disturbance is over t ≥ 70s, the output signal of the electromagnetic tracking system is relatively stable to meet the judgment condition of σEMA < 1, it is determined that the current sensor is in a stationary non-interference state, and the fusion tracking system uses the electromagnetic positioning output data as the reference signal to update, so as to eliminate the accumulated error of the inertial measurement unit and improve the measurement accuracy and antiinterference capability of the fusion tracking system
This paper proposes a method of inertial navigation and electromagnetic navigation fusion for intraoperative target organ movement perception
Summary
Intraoperative dynamic real-time tracking of target organs is a critical issue and difficulty that currently restricts clinical surgery diagnosis and treatment [1]. There is an urgent clinical need for a reliable intraoperative organ dynamic movement tracking technology to obtain real-time tumor position and posture. This helps the treatment device to be able to point to the target more precisely, narrow the PTV boundary range, avoid damage to normal human tissues, and improve the precision and effect of surgical treatment [5], [6]. When the marker target is in vivo, optical localization methods cannot operate due to the occlusion problems [22], [23] In this case, it is necessary to use imaging methods such as ultrasound, CT, or electromagnetic positioning to achieve the movement measurement of the markers in vivo. It can reduce the additional damage to patients and medical personnel by getting rid of traditional particle implantation surgery on CT, X-ray, and other radioactive image navigation methods
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