Minimally invasive surgical procedures often require needle insertion. For these procedures, efficacy greatly depends on precise needle placement. Many methods, such as optical tracking and electromagnetic tracking, have been applied to assist needle placement by tracking the real-time position information of the needle. Compared with the optical tracking method, electromagnetic tracking is more suitable for minimally invasive surgery since it has no requirement of line-of-sight. However, the devices needed for electromagnetic tracking are usually expensive, which will increase the cost of surgery. In this study, we presented a low-cost smartphone-based permanent magnet tracking method compatible with CT imaging and designed a 3D printed operation platform to assist with needle placement prior to needle insertion during minimally invasive surgery. The needle positioning accuracy of this method was tested in an open air test and a prostate phantom test in a CT environment. For these two tests, the average radial errors were 0.47 and 2.25 mm, respectively, and the standard deviations were 0.29 and 1.63, respectively. The materials and fabrication required for the presented method are inexpensive. Thus, many image-guided therapies may benefit from the presented method as a low-cost option for needle positioning prior to needle insertion.
Keywords: Magnet tracking; Needle placement; Smartphone.