Magnetic tracking using a modular C++ environment for image-guided interventions

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 $\pm$ 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.

KEYWORDS:

• Magnetic tracking
• C++ framework
• open-source

Disclosure statement

No potential conflict of interest was reported by the author(s).

Additional information

Funding

This work was supported by the Science Foundation Ireland [17/CDA/4771,TIDA17/4897]. Funded by the European Union ERC-2020-COG Award 101002225.  Views and opinions expressed are however those of the author(s) only and do not necessarily reflect those of the European Union or the European Research Council. Neither the European Union nor the granting authority can be held responsible for them.

Notes on contributors

Marco Cavaliere

Marco Cavaliere (Member, IEEE) received the Laurea degree in energy engineering and the Laurea Magistrale degree in electrical energy engineering from the University of Padua, Italy, in 2017 and 2019, respectively. He is currently pursuing a Ph.D. degree in electrical and electronic engineering with the University College Cork and the Tyndall National Institute, Cork, Ireland. His current research interests include electromagnetic tracking and navigation systems for image-guided interventions.

Conor Walsh

Conor Walsh received the MEng degree in Electrical & Electronic Engineering from University College Cork, Ireland, in 2021. He is currently working as a Graduate R&D Electrical Engineer in the medical device industry.

Herman Alexander Jaeger

Herman Alexander Jaeger (Member, IEEE) received the B.E., M.Eng.Sc., and Ph.D. degrees in electrical and electronic engineering from University College Cork (UCC), Ireland, in 2014, 2015, and 2018, respectively. He is currently a Postdoctoral Researcher with UCC. His current research interests include electromagnetic tracking and navigation for image-guided interventions.

Kilian O’Donoghue

Kilian O’Donoghue received the B.E. and Ph.D. degrees in electrical and electronic engineering from University College Cork, Ireland, in 2011 and 2015, respectively. His research interests include EM tracking systems, circuit design, magnetic field modelling, and minimally invasive surgeries.

Pádraig Cantillon-Murphy

Pádraig Cantillon-Murphy received the B.E. degree from UCC in 2003, and the M.Eng.Sc. and Ph.D. degrees from the Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology (MIT), in 2005 and 2008, respectively. He is currently a Senior Lecturer of electrical and electronic engineering with University College Cork, Ireland, an Academic Member of the Tyndall National Institute, and an Honorary Faculty with L’Institutde Chirurgie Guidée par l’Image, Strasbourg. He is also a Principal Investigator with the Biomedical Design Laboratory, UCC, and the Tyndall National Institute which explores novel device development in image-guided surgery and endoscopy. His current research interests include magnets for surgery, electromagnetic tracking and navigation, and surgical robotics.