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

Fotouhi J, Fuerst B, Johnson A, Lee SC, Taylor R, Osgood G, Navab N, Armand M (2017)

Publication Type: Journal article

Publication year: 2017

Journal

International Journal of Computer Assisted Radiology and Surgery Springer Verlag (Germany)

Book Volume: 12

Pages Range: 1221-1230

Journal Issue: 7

DOI: 10.1007/s11548-017-1611-8

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.

Involved external institutions

Johns Hopkins University (JHU) US United States (USA) (US) Johns Hopkins Hospital US United States (USA) (US)

How to cite

APA:

Fotouhi, J., Fuerst, B., Johnson, A., Lee, S.C., Taylor, R., Osgood, G.,... Armand, M. (2017). Pose-aware C-arm for automatic re-initialization of interventional 2D/3D image registration. International Journal of Computer Assisted Radiology and Surgery, 12(7), 1221-1230. https://doi.org/10.1007/s11548-017-1611-8

MLA:

Fotouhi, Javad, et al. "Pose-aware C-arm for automatic re-initialization of interventional 2D/3D image registration." International Journal of Computer Assisted Radiology and Surgery 12.7 (2017): 1221-1230.

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