Javad Fotouhi1, Bernhard Fuerst2, Alex Johnson3, Sing Chun Lee2, Russell Taylor4, Greg Osgood3, Nassir Navab2,5, Mehran Armand3,6,7. 1. Computer Aided Medical Procedures, Johns Hopkins University, Baltimore, MD, USA. fotouhi@jhu.edu. 2. Computer Aided Medical Procedures, Johns Hopkins University, Baltimore, MD, USA. 3. Department of Orthopaedic Surgery, Johns Hopkins Hospital, Baltimore, MD, USA. 4. Department of Computer Science, Johns Hopkins University, Baltimore, MD, USA. 5. Computer Aided Medical Procedures, Technische Universität München, Munich, Germany. 6. Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD, USA. 7. Johns Hopkins University Applied Physics Laboratory, Laurel, MD, USA.
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 [Formula: see text] 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.
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 [Formula: see text] 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.
Entities:
Keywords:
2D/3D registration; C-arm; Initialization; Intra-intervention; RGBD camera
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: Javad Fotouhi; Clayton P Alexander; Mathias Unberath; Giacomo Taylor; Sing Chun Lee; Bernhard Fuerst; Alex Johnson; Greg Osgood; Russell H Taylor; Harpal Khanuja; Mehran Armand; Nassir Navab Journal: J Med Imaging (Bellingham) Date: 2018-01-04
Authors: Sebastian Andress; Alex Johnson; Mathias Unberath; Alexander Felix Winkler; Kevin Yu; Javad Fotouhi; Simon Weidert; Greg Osgood; Nassir Navab Journal: J Med Imaging (Bellingham) Date: 2018-01-26
Authors: Javad Fotouhi; Bernhard Fuerst; Mathias Unberath; Stefan Reichenstein; Sing Chun Lee; Alex A Johnson; Greg M Osgood; Mehran Armand; Nassir Navab Journal: Med Phys Date: 2018-04-10 Impact factor: 4.071
Authors: Sing Chun Lee; Bernhard Fuerst; Keisuke Tateno; Alex Johnson; Javad Fotouhi; Greg Osgood; Federico Tombari; Nassir Navab Journal: Healthc Technol Lett Date: 2017-09-14