@conference {Harish2016a,
	title = {Measurement of electromagnetic tracking error in a navigated breast surgery setup},
	booktitle = {SPIE Medical Imaging 2016},
	volume = {9786},
	year = {2016},
	publisher = {SPIE Medical Imaging},
	organization = {SPIE Medical Imaging},
	address = {San Diego, CA, United States, Feb. 29, 2016},
	abstract = {<p>The measurement of tracking error is crucial to ensure the safety and feasibility of electromagnetically tracked, image-guided procedures. Measurement should occur in a clinical environment because electromagnetic field distortion depends on positioning relative to the field generator and metal objects. However, we could not find an accessible and open-source system for calibration, error measurement, and visualization. We developed such a system and tested it in a navigated breast surgery setup.A pointer tool was designed for concurrent electromagnetic and optical tracking. Software modules were developed for automatic calibration of the measurement system, real-time error visualization, and analysis. The system was taken to an operating room to test for field distortion in a navigated breast surgery setup. Positional and rotational electromagnetic tracking errors were then calculated using optical tracking as a ground truth. Our system is quick to set up and can be rapidly deployed. The process from calibration to visualization also only takes a few minutes. Field distortion was measured in the presence of various surgical equipment. Positional and rotational error in a clean field was approximately 0.90 mm and 0.31{\textdegree}. The presence of a surgical table, an electrosurgical cautery, and anesthesia machine increased the error by up to a few tenths of a millimetre and tenth of a degree.In a navigated breast surgery setup, measurement and visualization of tracking error defines a safe working area in the presence of surgical equipment. Our system is available as an extension for the open-source 3D Slicer platform.</p>
},
	author = {Vinyas Harish and A Baksh and Tamas Ungi and Andras Lasso and Zachary M C Baum and G Gauvin and C. Jay Engel and John Rudan and Gabor Fichtinger}
}
@article {Harish2016c,
	title = {Monitoring electromagnetic tracking error in computer-navigated breast cancer surgery},
	year = {2016},
	publisher = {Imaging Network Ontario (ImNO)},
	address = {Toronto, Canada},
	keywords = {Breast cancer, EM Tracking, Lumpectomy},
	author = {Vinyas Harish and A Baksh and Tamas Ungi and Andras Lasso and Zachary M C Baum and G Gauvin and C. Jay Engel and John Rudan and Gabor Fichtinger}
}
