T. Sugiura, M. Feuerstein, T. Kitasaka, K. Imaizumi, Y. Hasegawa, K. Mori A study on a method for bronchoscope tracking considering breathing motion by using bronchial structure 18th Meeting of the Japan Society of Computer Assisted Surgery, Tokyo, Japan, November 2009 (bib)
	In order to realize a bronchoscope navigation system, bronchoscope tracking is indispensable. There are several methods for bronchoscope tracking using an ultra-tiny electromagnetic tracker. However, registration of the coordinate system of the electromagnetic tracker and the preoperative CT image is difficult due to breathing motion. In this paper, we present a method for overcoming the effect of breathing motion by deforming medial line of the bronchi extracted from the CT image and correcting sensor outputs. We tested the proposed method by using a bronchus phantom that can simulate breathing motion. Experimental results showed that the proposed method could cancel the effect of breathing motion.
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