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However, EM tracking susceptibility to metallic objects severely declines its precision.<\/jats:p><\/jats:sec><jats:sec><jats:title>Method<\/jats:title><jats:p>We proposed to track the location of a tool in a dynamic bronchial phantom and compensate field distortion in a real\u2010time procedure. Extended Kalman filter simultaneous localization and mapping (EKF\u2010SLAM) algorithm employ the bronchial motion and observations of a redundant sensor. The proposed approach was applied to the phantom with four different amplitudes of breathing motion in the presence of two types of field\u2010distorting objects.<\/jats:p><\/jats:sec><jats:sec><jats:title>Results<\/jats:title><jats:p>The proposed approach improved the accuracy of EM tracking on average from 18.94\u00a0<jats:styled-content>\u00b11.17\u00a0mm<\/jats:styled-content> to 4.59\u00a0<jats:styled-content>\u00b10.29\u00a0mm<\/jats:styled-content> and from 14.2\u00a0<jats:styled-content>\u00b10.69\u00a0mm<\/jats:styled-content> to 4.31\u00a0<jats:styled-content>\u00b10.18mm<\/jats:styled-content> in the presence of steel and aluminum, respectively.<\/jats:p><\/jats:sec><jats:sec><jats:title>Conclusions<\/jats:title><jats:p>With EM tracking position error reduction based on the EKF\u2010SLAM technique, the approach is appeared promising for a navigated ultrasound TBNA procedure.<\/jats:p><\/jats:sec>","DOI":"10.1002\/rcs.2035","type":"journal-article","created":{"date-parts":[[2019,9,6]],"date-time":"2019-09-06T11:18:38Z","timestamp":1567768718000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":4,"title":["Compensation of dynamic electromagnetic field distortion using simultaneous localization and mapping method with application in endobronchial ultrasound\u2010transbronchial needle aspiration (EBUS\u2010TBNA) guidance"],"prefix":"10.1002","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5273-5998","authenticated-orcid":false,"given":"Saeedeh","family":"Navaei Lavasani","sequence":"first","affiliation":[{"name":"Department of Biomedical Engineering and Medical Physics, Faculty of Medicine Shahid Beheshti University of Medical Sciences  Tehran Iran"},{"name":"Image\u2010Guided Intervention Group, Research Centre of Biomedical Technology and Robotics RCBTR Tehran University of Medical Sciences  Tehran Iran"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Mohammadreza","family":"Deevband","sequence":"additional","affiliation":[{"name":"Department of Biomedical Engineering and Medical Physics, Faculty of Medicine Shahid Beheshti University of Medical Sciences  Tehran Iran"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Parastoo","family":"Farnia","sequence":"additional","affiliation":[{"name":"Image\u2010Guided Intervention Group, Research Centre of Biomedical Technology and Robotics RCBTR Tehran University of Medical Sciences  Tehran Iran"},{"name":"Department f Medical Physics and Biomedical Engineering, Faculty of Medicine Tehran University of Medical Sciences  Tehran Iran"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Alireza","family":"Ahmadian","sequence":"additional","affiliation":[{"name":"Image\u2010Guided Intervention Group, Research Centre of Biomedical Technology and Robotics RCBTR Tehran University of Medical Sciences  Tehran Iran"},{"name":"Department f Medical Physics and Biomedical Engineering, Faculty of Medicine Tehran University of Medical Sciences  Tehran Iran"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Samaneh","family":"Saghatchi","sequence":"additional","affiliation":[{"name":"Image\u2010Guided Intervention Group, Research Centre of Biomedical Technology and Robotics RCBTR Tehran University of Medical Sciences  Tehran Iran"},{"name":"Department f Medical Physics and Biomedical Engineering, Faculty of Medicine Tehran University of Medical Sciences  Tehran Iran"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"311","published-online":{"date-parts":[[2019,11,26]]},"reference":[{"key":"e_1_2_10_2_1","doi-asserted-by":"publisher","DOI":"10.1093\/ejcts\/ezu028"},{"key":"e_1_2_10_3_1","doi-asserted-by":"publisher","DOI":"10.1183\/09031936.00033311"},{"key":"e_1_2_10_4_1","doi-asserted-by":"publisher","DOI":"10.1378\/chest.07-2540"},{"key":"e_1_2_10_5_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.compbiomed.2008.12.012"},{"issue":"1","key":"e_1_2_10_6_1","first-page":"75","article-title":"Virtual bronchoscopic","volume":"31","author":"Asano FJCicm","year":"2010","journal-title":"Navigation"},{"key":"e_1_2_10_7_1","first-page":"121","volume-title":"Practical application of virtual bronchoscopic navigation","author":"Asano F","year":"2013"},{"key":"e_1_2_10_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMI.2014.2321777"},{"key":"e_1_2_10_9_1","doi-asserted-by":"publisher","DOI":"10.1118\/1.1944327"},{"key":"e_1_2_10_10_1","doi-asserted-by":"crossref","unstructured":"HaideggerT SirokaiB FenyvesiG Kov\u00e1csL Beny\u00f3B Beny\u00f3Z.Repeatable assessment protocol for electromagnetic trackers. 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