T. Sugiura, M. Feuerstein, T. Kitasaka, Y. Suenaga, K. Imaizumi, Y. Hasegawa, K. Mori A study on a breathing motion compensation for bronchoscope tracking based on bronchial tree structure information IEICE Medical Imaging, Naha, Japan, January 2010 (bib)
	Current systems for navigated bronchoscopy using electromagnetic tracking do not consider respiratory motion of the patient, and hence are of limited accuracy. In this paper, we present a method that can match the airways (extracted from CT) to the breathing motion of the patient by means of the bronchial tree structure and use this information to dynamically adjust the tracking measurements. Experimental results showed that we could decrease the average distance of the tracking measurements from the centerline of the bronchial tree from 6.43 mm to 2.98 mm.
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