دورية أكاديمية
Estimation of surgical tool-tip tracking error distribution in coordinate reference frame involving pivot calibration uncertainty.
| العنوان: | Estimation of surgical tool-tip tracking error distribution in coordinate reference frame involving pivot calibration uncertainty. |
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| المؤلفون: | Min Z; Robotics and Perception Laboratory, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong., Ren H; Laboratory of Medical Mechatronics, National University of Singapore, Singapore 119077, Singapore., Meng MQ; Robotics and Perception Laboratory, The Chinese University of Hong Kong, Shatin, N.T., Hong Kong. |
| المصدر: | Healthcare technology letters [Healthc Technol Lett] 2017 Sep 18; Vol. 4 (5), pp. 193-198. Date of Electronic Publication: 2017 Sep 18 (Print Publication: 2017). |
| نوع المنشور: | Journal Article |
| اللغة: | English |
| بيانات الدورية: | Publisher: Wiley Country of Publication: England NLM ID: 101646459 Publication Model: eCollection Cited Medium: Print ISSN: 2053-3713 (Print) Linking ISSN: 20533713 NLM ISO Abbreviation: Healthc Technol Lett Subsets: PubMed not MEDLINE |
| أسماء مطبوعة: | Publication: 2021- : [Oxford] : Wiley Original Publication: [Stevenage, UK] : Institution of Engineering and Technology, [2014]- |
| مستخلص: | 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. |
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| فهرسة مساهمة: | Keywords: Monte Carlo methods; Monte Carlo simulations; OTS; RMS; TLE; TTRE; TTRE statistics; biomedical optical imaging; calibration; coordinate reference frame; covariance matrices; covariance matrix; decision making; fiducial localisation error; first-order approximation; image registration; image-guided surgery; mean statistics; medical image processing; optical tracking; optical tracking system; optical tracking system;; pivot calibration uncertainty; root-mean-square; single-rigid registration; statistics; surgery; surgical tool-tip tracking error distribution; target localisation error; total target registration error |
| تواريخ الأحداث: | Date Created: 20171130 Latest Revision: 20201001 |
| رمز التحديث: | 20240628 |
| مُعرف محوري في PubMed: | PMC5683247 |
| DOI: | 10.1049/htl.2017.0065 |
| PMID: | 29184664 |
| قاعدة البيانات: | MEDLINE |
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