Study of Electromagnetic Navigation System for Thermal Ablation Puncture of Liver Tumors
YAO Jie, WU Guolin, WU Shuicai
Beijing International Science and Technology Cooperation Base for Intelligent Physiological Measurement and Clinical
Transformation, Department of Biomedical Engineering, Faculty of Environment and Life, Beijing University of Technology,
Beijing 100124, China
Abstract：Objective To improve the success rate of traditional liver tumor ablation treatment and reduce radiation exposure time,
to design a electromagnetic navigation system for thermal ablation puncture of liver tumors based on electromagnetic positioning
device. Methods Based on the coordinate information of the corresponding marker points of the electromagnetic navigation
coordinate system and the three-dimensional image coordinate system, the spatial registration of the electromagnetic navigation
system for thermal ablation of liver tumors was completed using singular value decomposition. The electromagnetic navigation
system for thermal ablation of liver tumors was designed using hardware auxiliary equipment such as electromagnetic tracking to
achieve percutaneous puncture path planning of liver tumors and real-time interactive needle feeding. The accuracy of the spatial
point set registration and the accuracy of the electromagnetic navigation system were then tested. Results Based on the calculation
of coordinates in the three-dimensional image coordinate system and converted three-dimensional image coordinate system obtained
by transforming six reference points in each experiment, the root mean square error (RMSE) was determined. The maximum RMSE
observed during the experiments was less than 1.5 mm, while the average RMSE was found to be 1.262 mm. The spatial position of
the puncture ablation needle was obtained. The maximum target position error (TPE) of the electromagnetic navigation system for
liver tumor thermal ablation puncture was no more than 5.00 mm, and the average TPE was 3.10 mm. Conclusion The liver tumor
thermal ablation electromagnetic navigation system based on the singular value decomposition registration algorithm can realize the
reading and visualization of CT data, puncture path planning, and real-time feedback of the spatial pose of ablation needle based on
electromagnetic positioning, which can effectively assist the doctors in the surgical operation.
姚洁，伍国林，吴水才. 肝肿瘤热消融穿刺电磁导航系统研究[J]. 中国医疗设备, 2023, 38(9): 25-30.
YAO Jie, WU Guolin, WU Shuicai. Study of Electromagnetic Navigation System for Thermal Ablation Puncture of Liver Tumors. China Medical Devices, 2023, 38(9): 25-30.
