3D motion tracking of pulmonary lesions using CT fluoroscopy images for robotically assisted lung biopsy

Sheng Xu, Gabor Fichtinger, Russell H Taylor, Kevin Cleary

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We are developing a prototype system for robotically assisted lung biopsy. For directing the robot in biopsy needle placement, we propose a non-invasive algorithm to track the 3D position of the target lesion using 2D CT fluoroscopy image sequences. A small region of the CT fluoroscopy image is registered to a corresponding region in a pre-operative CT volume to infer the position of the target lesion with respect to the imaging plane. The registration is implemented in a coarse to fine fashion. The local deformation between the two regions is modeled by an affine transformation. The sum-of-squared-differences (SSD) between the two regions is minimized using the Levenberg-Marquardt method. Multi-resolution and multi-start strategies are used to avoid local minima. As a result, multiple candidate transformations between the two regions are obtained, from which the true transformation is selected by similarity voting. The true transformation of each frame of the CT fluoroscopy image is then incorporated into a Kalman filter to predict the lesion's position for the next frame. Tests were completed to evaluate the performance of the algorithm using a respiratory motion simulator and a swine animal study.

Original languageEnglish (US)
Title of host publicationProceedings of SPIE - The International Society for Optical Engineering
EditorsR.L. Galloway, Jr.
Pages394-402
Number of pages9
Volume5367
DOIs
Publication statusPublished - 2004
EventProgress in Biomedical Optics and Imaging 2004 - Medical Imaging: Visualization, Image-Guided Procedures, and Display - San Diego, CA, United States
Duration: Feb 15 2004Feb 17 2004

Other

OtherProgress in Biomedical Optics and Imaging 2004 - Medical Imaging: Visualization, Image-Guided Procedures, and Display
CountryUnited States
CitySan Diego, CA
Period2/15/042/17/04

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Keywords

  • Data association
  • Lung biopsy
  • Motion estimation
  • Real-time tracking
  • Robotics
  • Robust tracking
  • Textured regions

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Condensed Matter Physics

Cite this

3D motion tracking of pulmonary lesions using CT fluoroscopy images for robotically assisted lung biopsy. / Xu, Sheng; Fichtinger, Gabor; Taylor, Russell H; Cleary, Kevin.

Proceedings of SPIE - The International Society for Optical Engineering. ed. / R.L. Galloway, Jr. Vol. 5367 2004. p. 394-402.

Research output: Chapter in Book/Report/Conference proceedingConference contribution