Inductively coupled tracking markers for use with tracking rigid surgical tools (e.g. biopsy needle or ablation probe). Manufactured by Simag, Germany.
Capacitively coupled tracking markers for use with tracking catheters and flexible surgical tools.
An analytic radial localization algorithm is used to simultaneously determine the 3D position of multiple tracking markers. The markers are attached to a device (a), then 1D radial projections are collected in two orthogonal scan planes (b). The projection intersections are determined analytically and the 2D locations of the markers in each scan plane are calculated (c). The informationabout the markers 2D location in each plane are combined to determine each marker's 3D position (not-pictured).
A radial True-FISP imaging sequence (FA = 70 deg, TR = 3.6 ms, TE = 1.8 ms, Matrix = 128x128, FOV = 400x400 mm) has been coupled with a real-time catheter tracking system. A sample of an in vivo porcine experiment is shown where a catheter is advanced through a portion of the abdominal aorta and into the left renal artery.
