TY - JOUR
T1 - Anatomy-based registration of CT-scan and intraoperative X-ray images for guiding a surgical robot
AU - Guéziec, A.
AU - Kazanzides, P.
AU - Williamson, B.
AU - Taylor, R. H.
N1 - Funding Information:
Manuscript received March 23, 1998; revised July 2, 1998. This work was supported in part by NIST Advanced Technology Program (ATP) under Cooperative Agreement 70NANB5H1088. The Associate Editor responsible for coordinating the review of this paper and recommending its publication was M. Viergever. Asterisk indicates corresponding author. *A. Guéziec is with the IBM T.J. Watson Research Center, 30 Sawmill River Road, Hawthorne, NY 10532 USA (e-mail: gueziec@watson.ibm.com). P. Kazanzides and B. Williamson are with Integrated Surgical Systems, Davis, CA 95616 USA. R. H. Taylor is with the Johns Hopkins University, Computer Science Department, Baltimore, MD 21218 USA. Publisher Item Identifier S 0278-0062(98)09094-6.
PY - 1998
Y1 - 1998
N2 - We describe new methods for rigid registration of a preoperative computed tomography (CT)-scan image to a set of intraoperative X-ray fluoroscopic images, for guiding a surgical robot to its trajectory planned from CT. Our goal is to perform the registration, i.e., compute a rotation and translation of one data set with respect to the other to within a prescribed accuracy, based upon bony anatomy only, without external fiducial markers. With respect to previous approaches, the following aspects are new: 1) we correct the geometric distortion in fluoroscopic images and calibrate them directly with respect to the robot by affixing to it a new calibration device designed as a radiolucent rod with embedded metallic markers, and by moving the device along two planes, while radiographs are being acquired at regular intervals; 2) the registration uses an algorithm for computing the best transformation between a set of lines in three space, the (intraoperative) X-ray paths, and a set of points on the surface of the bone (imaged preoperatively), in a statistically robust fashion, using the Cayley parameterization of a rotation; and 3) to find corresponding sets of points to the X-ray paths on the surfaces, our new approach consists of extracting the surface apparent contours for a given viewpoint, as a set of closed threedimensional nonplanar curves, before registering the apparent contours to X-ray paths. Aside from algorithms, there are a number of major technical difficulties associated with engineering a clinically viable system using anatomy and image-based registration. To detect and solve them, we have so far conducted two experiments with the surgical robot in an operating room (OR), using CT and fluoroscopic image data of a cadaver bone, and attempting to faithfully simulate clinical conditions. Such experiments indicate that intraoperative X-ray-based registration is a promising alternative to markerbased registration for clinical use with our proposed method.
AB - We describe new methods for rigid registration of a preoperative computed tomography (CT)-scan image to a set of intraoperative X-ray fluoroscopic images, for guiding a surgical robot to its trajectory planned from CT. Our goal is to perform the registration, i.e., compute a rotation and translation of one data set with respect to the other to within a prescribed accuracy, based upon bony anatomy only, without external fiducial markers. With respect to previous approaches, the following aspects are new: 1) we correct the geometric distortion in fluoroscopic images and calibrate them directly with respect to the robot by affixing to it a new calibration device designed as a radiolucent rod with embedded metallic markers, and by moving the device along two planes, while radiographs are being acquired at regular intervals; 2) the registration uses an algorithm for computing the best transformation between a set of lines in three space, the (intraoperative) X-ray paths, and a set of points on the surface of the bone (imaged preoperatively), in a statistically robust fashion, using the Cayley parameterization of a rotation; and 3) to find corresponding sets of points to the X-ray paths on the surfaces, our new approach consists of extracting the surface apparent contours for a given viewpoint, as a set of closed threedimensional nonplanar curves, before registering the apparent contours to X-ray paths. Aside from algorithms, there are a number of major technical difficulties associated with engineering a clinically viable system using anatomy and image-based registration. To detect and solve them, we have so far conducted two experiments with the surgical robot in an operating room (OR), using CT and fluoroscopic image data of a cadaver bone, and attempting to faithfully simulate clinical conditions. Such experiments indicate that intraoperative X-ray-based registration is a promising alternative to markerbased registration for clinical use with our proposed method.
KW - Anatomy- And image-based registration
KW - CT
KW - ROBODOC®
KW - Revision total hip replacement surgery
KW - X-ray fluoroscopy
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U2 - 10.1109/42.736023
DO - 10.1109/42.736023
M3 - Article
C2 - 9874295
AN - SCOPUS:0032173357
SN - 0278-0062
VL - 17
SP - 715
EP - 728
JO - IEEE transactions on medical imaging
JF - IEEE transactions on medical imaging
IS - 5
ER -