Respiratory motion compensation with tracked internal and external sensors during CT-guided procedures

Abstract

This paper investigates the possibility of using the motion of a patient's anterior surface in combination with a motion model to compensate for internal respiratory motion during tracked biopsies. Position data from two electromagnetically tracked sensors, one placed on the patient's sternum, the other incorporated into a biopsy needle, were acquired during a liver biopsy. The data were used to evaluate the correlation between the position measurements of the two sensors and to derive an affine motion model to assess respiratory motion compensation for image-guided interventional procedures. The correlation reached up to 94% for ranges of steady respiration. The residual motion of the internal sensor after compensation is reduced by a factor of approximately four.

• Respiratory motion compensation
• interventional navigation
• electromagnetic tracking

Notes

Part of this research was previously presented at the 19th International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS 2005), held in Berlin, Germany, in June 2005.