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International Journal of Computer Assisted Radiology and Surgery

Erschienen in:

19.05.2017 | Original Article

Pose-aware C-arm for automatic re-initialization of interventional 2D/3D image registration

verfasst von: Javad Fotouhi, Bernhard Fuerst, Alex Johnson, Sing Chun Lee, Russell Taylor, Greg Osgood, Nassir Navab, Mehran Armand

Erschienen in: International Journal of Computer Assisted Radiology and Surgery | Ausgabe 7/2017

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Abstract

Purpose

In minimally invasive interventions assisted by C-arm imaging, there is a demand to fuse the intra-interventional 2D C-arm image with pre-interventional 3D patient data to enable surgical guidance. The commonly used intensity-based 2D/3D registration has a limited capture range and is sensitive to initialization. We propose to utilize an opto/X-ray C-arm system which allows to maintain the registration during intervention by automating the re-initialization for the 2D/3D image registration. Consequently, the surgical workflow is not disrupted and the interaction time for manual initialization is eliminated.

Methods

We utilize two distinct vision-based tracking techniques to estimate the relative poses between different C-arm arrangements: (1) global tracking using fused depth information and (2) RGBD SLAM system for surgical scene tracking. A highly accurate multi-view calibration between RGBD and C-arm imaging devices is achieved using a custom-made multimodal calibration target.

Results

Several in vitro studies are conducted on pelvic-femur phantom that is encased in gelatin and covered with drapes to simulate a clinically realistic scenario. The mean target registration errors (mTRE) for re-initialization using depth-only and RGB \(+\) depth are 13.23 mm and 11.81 mm, respectively. 2D/3D registration yielded 75% success rate using this automatic re-initialization, compared to a random initialization which yielded only 23% successful registration.

Conclusion

The pose-aware C-arm contributes to the 2D/3D registration process by globally re-initializing the relationship of C-arm image and pre-interventional CT data. This system performs inside-out tracking, is self-contained, and does not require any external tracking devices.

Vorheriger Artikel Can real-time RGBD enhance intraoperative Cone-Beam CT?

Nächster Artikel Contact-less stylus for surgical navigation: registration without digitization

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Titel: Pose-aware C-arm for automatic re-initialization of interventional 2D/3D image registration
verfasst von: Javad Fotouhi
Bernhard Fuerst
Alex Johnson
Sing Chun Lee
Russell Taylor
Greg Osgood
Nassir Navab
Mehran Armand
Publikationsdatum: 19.05.2017
Verlag: Springer International Publishing
Erschienen in: International Journal of Computer Assisted Radiology and Surgery / Ausgabe 7/2017
Print ISSN: 1861-6410
Elektronische ISSN: 1861-6429
DOI: https://doi.org/10.1007/s11548-017-1611-8

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Abstract

Purpose

Methods

Results

Conclusion

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