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

International Journal of Computer Assisted Radiology and Surgery
Javad FotouhiMehran Armand

Abstract

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. 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. 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 [Formula: ...Continue Reading

References

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May 8, 2014·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Liangjing YangToshio Chiba
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Mar 21, 2016·International Journal of Computer Assisted Radiology and Surgery·Marius FischerNassir Navab
Apr 10, 2016·International Journal of Computer Assisted Radiology and Surgery·Sing Chun LeeNassir Navab
Mar 28, 2017·International Journal of Computer Assisted Radiology and Surgery·Javad FotouhiNassir Navab

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Citations

Mar 28, 2017·International Journal of Computer Assisted Radiology and Surgery·Javad FotouhiNassir Navab
Dec 1, 2017·Healthcare Technology Letters·Sing Chun LeeNassir Navab
Mar 24, 2018·Medical Physics·Javad FotouhiNassir Navab
Dec 26, 2019·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Long ChenLining Sun
Jul 28, 2019·International Journal of Computer Assisted Radiology and Surgery·Javad FotouhiNassir Navab
Mar 14, 2019·International Journal of Computer Assisted Radiology and Surgery·Javad FotouhiNassir Navab
Nov 23, 2018·Healthcare Technology Letters·Mathias UnberathNassir Navab

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