A Uneri1, J W Stayman2, T De Silva2, A S Wang2, G Kleinszig3, S Vogt3, A J Khanna4, J-P Wolinsky5, Z L Gokaslan5, J H Siewerdsen6. 1. Department of Computer Science, Johns Hopkins Univ., Baltimore, MD. 2. Department of Biomedical Engineering, Johns Hopkins Univ., Baltimore, MD. 3. Siemens Healthcare XP Division, Erlangen, Germany. 4. Department of Orthopaedic Surgery, Johns Hopkins Medical Institute, Baltimore, MD. 5. Department of Neurosurgery, Johns Hopkins Medical Institute, Baltimore, MD. 6. Department of Computer Science, Johns Hopkins Univ., Baltimore, MD ; Department of Biomedical Engineering, Johns Hopkins Univ., Baltimore, MD.
Abstract
PURPOSE: To extend the functionality of radiographic/fluoroscopic imaging systems already within standard spine surgery workflow to: 1) provide guidance of surgical device analogous to an external tracking system; and 2) provide intraoperative quality assurance (QA) of the surgical product. METHODS: Using fast, robust 3D-2D registration in combination with 3D models of known components (surgical devices), the 3D pose determination was solved to relate known components to 2D projection images and 3D preoperative CT in near-real-time. Exact and parametric models of the components were used as input to the algorithm to evaluate the effects of model fidelity. The proposed algorithm employs the covariance matrix adaptation evolution strategy (CMA-ES) to maximize gradient correlation (GC) between measured projections and simulated forward projections of components. Geometric accuracy was evaluated in a spine phantom in terms of target registration error at the tool tip (TRE x ), and angular deviation (TRE ϕ ) from planned trajectory. RESULTS: Transpedicle surgical devices (probe tool and spine screws) were successfully guided with TRE x <2 mm and TRE ϕ <0.5° given projection views separated by at least >30° (easily accommodated on a mobile C-arm). QA of the surgical product based on 3D-2D registration demonstrated the detection of pedicle screw breach with TRE x <1 mm, demonstrating a trend of improved accuracy correlated to the fidelity of the component model employed. CONCLUSIONS: 3D-2D registration combined with 3D models of known surgical components provides a novel method for near-real-time guidance and quality assurance using a mobile C-arm without external trackers or fiducial markers. Ongoing work includes determination of optimal views based on component shape and trajectory, improved robustness to anatomical deformation, and expanded preclinical testing in spine and intracranial surgeries.
PURPOSE: To extend the functionality of radiographic/fluoroscopic imaging systems already within standard spine surgery workflow to: 1) provide guidance of surgical device analogous to an external tracking system; and 2) provide intraoperative quality assurance (QA) of the surgical product. METHODS: Using fast, robust 3D-2D registration in combination with 3D models of known components (surgical devices), the 3D pose determination was solved to relate known components to 2D projection images and 3D preoperative CT in near-real-time. Exact and parametric models of the components were used as input to the algorithm to evaluate the effects of model fidelity. The proposed algorithm employs the covariance matrix adaptation evolution strategy (CMA-ES) to maximize gradient correlation (GC) between measured projections and simulated forward projections of components. Geometric accuracy was evaluated in a spine phantom in terms of target registration error at the tool tip (TRE x ), and angular deviation (TRE ϕ ) from planned trajectory. RESULTS: Transpedicle surgical devices (probe tool and spine screws) were successfully guided with TRE x <2 mm and TRE ϕ <0.5° given projection views separated by at least >30° (easily accommodated on a mobile C-arm). QA of the surgical product based on 3D-2D registration demonstrated the detection of pedicle screw breach with TRE x <1 mm, demonstrating a trend of improved accuracy correlated to the fidelity of the component model employed. CONCLUSIONS: 3D-2D registration combined with 3D models of known surgical components provides a novel method for near-real-time guidance and quality assurance using a mobile C-arm without external trackers or fiducial markers. Ongoing work includes determination of optimal views based on component shape and trajectory, improved robustness to anatomical deformation, and expanded preclinical testing in spine and intracranial surgeries.
Authors: A Uneri; A S Wang; Y Otake; G Kleinszig; S Vogt; A J Khanna; G L Gallia; Z L Gokaslan; J H Siewerdsen Journal: Phys Med Biol Date: 2014-08-22 Impact factor: 3.609
Authors: J Webster Stayman; Yoshito Otake; Jerry L Prince; A Jay Khanna; Jeffrey H Siewerdsen Journal: IEEE Trans Med Imaging Date: 2012-05-16 Impact factor: 10.048
Authors: A Uneri; S Schafer; D J Mirota; S Nithiananthan; Y Otake; R H Taylor; G L Gallia; A J Khanna; S Lee; D D Reh; J H Siewerdsen Journal: Int J Comput Assist Radiol Surg Date: 2011-07-09 Impact factor: 3.421
Authors: Y Otake; S Schafer; J W Stayman; W Zbijewski; G Kleinszig; R Graumann; A J Khanna; J H Siewerdsen Journal: Phys Med Biol Date: 2012-08-03 Impact factor: 3.609
Authors: A Uneri; T De Silva; J W Stayman; G Kleinszig; S Vogt; A J Khanna; Z L Gokaslan; J-P Wolinsky; J H Siewerdsen Journal: Phys Med Biol Date: 2015-09-30 Impact factor: 3.609
Authors: A Uneri; T De Silva; J Goerres; M W Jacobson; M D Ketcha; S Reaungamornrat; G Kleinszig; S Vogt; A J Khanna; G M Osgood; J-P Wolinsky; J H Siewerdsen Journal: Phys Med Biol Date: 2017-02-24 Impact factor: 3.609