Particle filtering for respiratory motion compensation during navigated bronchoscopy

Abstract

Although the field of a navigated bronchoscopy gains increasing attention in the literature, robust guidance in the presence of respiratory motion and electromagnetic noise remains challenging. The robustness of a previously introduced motion compensation approach was increased by taking into account the already traveled trajectory of the instrument within the lung. To evaluate the performance of the method a virtual environment, which accounts for respiratory motion and electromagnetic noise was used. The simulation is based on a deformation field computed from human computed tomography data. According to the results, the proposed method outperforms the original method and is suitable for lung motion compensation during electromagnetically guided interventions.