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

香港中文大學研究人員

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摘要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.
著者Min Zhe, Ren Hongliang, Meng Max Q.-H.
期刊名稱Health Technology Letters
出版年份2017
月份10
卷號4
期次5
出版社Institution of Engineering and Technology (IET): Open Access Journals
頁次193 - 198
國際標準期刊號2053-3713
電子國際標準期刊號2053-3713
語言美式英語

上次更新時間 2020-23-11 於 01:52