Feasibility of automated fiducial registration with a nasopharyngeal stent for electromagnetic navigation

Patient-to-image registration is currently mostly done in a semi-automated way. Fully automating this task can enhance surgical workflow and reduce human errors. Here, we present a novel solution with a nasal stent utilized to minimally invasively position spherical fiducials inside the nasopharynx and aimed for neurosurgery with electromagnetic navigation. The assembly was deployed into the pharyngeal region of a human specimen. The spherical fiducials are automatically detected in anatomy by integrated magnetic sensors while in preoperative imagery with a proposed u-net deep network. Temporal dislocation of the markers was measured interdaily after two brainstem procedures with CT imaging follow-ups. The u-net was trained to differentiate markers from other structures located in CT images. The ground-truth data was created from 22 CTs of phantoms, cadavers and swine. The dataset is split into 12, 5 and 5 for training, validation and testing, respectively. The dice coefficient was used as a similarity measure. The fiducial registration error resulted in 0.53±0.1 mm and 0.44±0.04 mm for the first and the second procedure, respectively. The fiducial positions deviated from the intraday baseline with the mean ± standard deviation 0.29±0.20 mm and 1.32±0.30 mm. The dice coefficient was 0.976, 0.878 and 0.764 during the training, validation and testing. The nasopharyngeal stent shows a potential for a stable marker fixation. The u-net can be adequately employed to segment titanium spherical fiducials.