AI Article Synopsis
- Understanding surgical tool-tip tracking error is crucial for effective image-guided surgery decision-making.
- A new error metric called total target registration error (TTRE) is introduced, which considers target localization error across two registration spaces.
- The authors validate their error model through Monte Carlo simulations, achieving over 90% accuracy in matching simulated and theoretical tool-tip tracking error statistics.
Article 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.
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Source |
|---|---|
| http://www.ncbi.nlm.nih.gov/pmc/articles/PMC5683247 | PMC |
| http://dx.doi.org/10.1049/htl.2017.0065 | DOI Listing |
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