A navigation system of cerebral endovascular surgery integrating multiple space-guiding trackers

In this paper, a navigation system combining multiple space-guiding trackers is proposed for cerebral endovascular surgery. This system not only provides 2-D and 3-D visualization of medical images but also integrates an ICP-based algorithm to increase the registration accuracy during cerebral endovascular navigation. This tracking system integrates a mechanical digitizer, an optical tracker and an electromagnetic sensor to increase the flexibility in clinical application. An ICP-based registration algorithm is proposed to dynamically correct the registration error according to the current observation of the cerebral endovascular. To evaluate the system performance, a plastic phantom with cerebral endovascular structures is used and the experimental results show that the localization error is significantly reduced from 5.21∼6.47mm to 2.29∼2.87mm using the proposed scheme.