RT Journal Article
A1 Zhe Min
A1 Hongliang Ren
A1 Max Q.-H. Meng

PB iet
T1 Estimation of surgical tool-tip tracking error distribution in coordinate reference frame involving pivot calibration uncertainty
JN Healthcare Technology Letters
VO 4
IS 5
SP 193
OP 198
AB 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.
K1 mean statistics
K1 decision making
K1 single-rigid registration
K1 RMS
K1 TTRE statistics
K1 target localisation error
K1 covariance matrix
K1 root-mean-square
K1 pivot calibration uncertainty
K1 first-order approximation
K1 fiducial localisation error
K1 OTS
K1 image-guided surgery
K1 Monte Carlo simulations
K1 surgical tool-tip tracking error distribution
K1 TLE
K1 TTRE
K1 optical tracking system
K1 total target registration error
K1 coordinate reference frame
K1 optical tracking system;
DO https://doi.org/10.1049/htl.2017.0065
UL https://digital-library.theiet.org/;jsessionid=319ev08mb003f.x-iet-live-01content/journals/10.1049/htl.2017.0065
LA English
SN
YR 2017
OL EN