Investigation of performance and usability of electromagnetic tracking systems

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Dr. Szilágyi László
Department of Control Engineering and Information Technology

Computer-Integrated Surgery (CIS) revolutionized interventional medicine in the last years. It was particularly well received in minimal invasive surgery. In the last years the Electromagnetic Tracking Systems (Aurora, NDI, Waterloo, Canada) has been widely used in interventional radiology (biopsy and cardiac catheterization). This diploma thesis gives a comprehensive overview of electromagnetic tracking systems, its their typical accuracy and errors. I am present in a new measurement and modeling technique when I used Electromagnetic Tracking Systems, Computer Tomography (CT) images and Ultrasound (US) that can be helped the intervention’s efficiency.

I make successfully a new measurement and evaluation protocol, which is helpful for every users, to compare our measurement results. I make a new, continuous communications between the US system and the computer. I design a special measurement phantom, which is compatible with the US and CT. I determine the optimal image registration method. I used pivot calibration in order to determine the end of the biopsy needle. Finally I made EMT measurements in clinical environment (CT laboratory), to map the measurement’s errors. These errors were bigger than the laboratory environment. After the measurements the consequence is that we should find and make a good compensation algorithm to reduce the errors.


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