C-arm pose estimation using a set of coplanar ellipses in correspondence

Maria S. Ayad, Junghoon Lee, Anton Deguet, Everette C. Burdette, Jerry L. Prince

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

Abstract

C-arms are increasingly being used to assist in a large number of surgical procedures. Fairly accurate and fast pose estimates are needed for non-encoded c-arms that are commonly available in most operating rooms in order to attain quantitative feedback from the x-ray images. We propose the use of an image-based fiducial composed of a set of coplanar ellipses to track the c-arm. We adopt an existing method for planar homography and propose a variation consisting of three modifications: including a weighting scheme for the linear system used, orthonormalizing the vectors pertaining to the rotation component of the transformation, and fine tuning the estimates using a constrained optimization step. We show that these variations make the approach more robust to noise that typically arises in fluoroscopy imaging and guarantee the orthonormality of the estimated rotation. The performance of the modified algorithm is demonstrated using realistic x-ray simulations. We also run sensitivity analysis for segmentation and calibration errors that are likely to occur in a practical setting. Preliminary results show mean tracking accuracy within 0.5° and 0.9 mm for segmentation error variance up to 2 pixels squared. The algorithm also proves to be robust to calibration errors up to 1 cm.

Original languageEnglish (US)
Title of host publication2010 7th IEEE International Symposium on Biomedical Imaging
Subtitle of host publicationFrom Nano to Macro, ISBI 2010 - Proceedings
Pages1401-1404
Number of pages4
DOIs
StatePublished - Aug 9 2010
Event7th IEEE International Symposium on Biomedical Imaging: From Nano to Macro, ISBI 2010 - Rotterdam, Netherlands
Duration: Apr 14 2010Apr 17 2010

Publication series

Name2010 7th IEEE International Symposium on Biomedical Imaging: From Nano to Macro, ISBI 2010 - Proceedings

Other

Other7th IEEE International Symposium on Biomedical Imaging: From Nano to Macro, ISBI 2010
CountryNetherlands
CityRotterdam
Period4/14/104/17/10

Keywords

  • C-arm
  • Conics
  • Planar fiducial
  • Pose estimation
  • Tracking

ASJC Scopus subject areas

  • Biomedical Engineering
  • Radiology Nuclear Medicine and imaging

Fingerprint Dive into the research topics of 'C-arm pose estimation using a set of coplanar ellipses in correspondence'. Together they form a unique fingerprint.

  • Cite this

    Ayad, M. S., Lee, J., Deguet, A., Burdette, E. C., & Prince, J. L. (2010). C-arm pose estimation using a set of coplanar ellipses in correspondence. In 2010 7th IEEE International Symposium on Biomedical Imaging: From Nano to Macro, ISBI 2010 - Proceedings (pp. 1401-1404). [5490260] (2010 7th IEEE International Symposium on Biomedical Imaging: From Nano to Macro, ISBI 2010 - Proceedings). https://doi.org/10.1109/ISBI.2010.5490260