Intraoperative image-based multiview 2D/3D registration for image-Guided orthopaedic surgery: Incorporation of fiducial-Based C-Arm tracking and GPU-Acceleration

Yoshito Otake, Mehran Armand, Robert S. Armiger, Michael D. Kutzer, Ehsan Basafa, Peter Kazanzides, Russell H. Taylor

Research output: Contribution to journalArticle

Abstract

Intraoperative patient registration may significantly affect the outcome of image-guided surgery (IGS). Image-based registration approaches have several advantages over the currently dominant point-based direct contact methods and are used in some industry solutions in image-guided radiation therapy with fixed X-ray gantries. However, technical challenges including geometric calibration and computational cost have precluded their use with mobile C-arms for IGS. We propose a 2D/3D registration framework for intraoperative patient registration using a conventional mobile X-ray imager combining fiducial-based C-arm tracking and graphics processing unit (GPU)-acceleration. The two-stage framework 1) acquires X-ray images and estimates relative pose between the images using a custom-made in-image fiducial, and 2) estimates the patient pose using intensity-based 2D/3D registration. Experimental validations using a publicly available gold standard dataset, a plastic bone phantom and cadaveric specimens have been conducted. The mean target registration error (mTRE) was 0.34 ± 0.04 mm (success rate: 100%, registration time: 14.2 s) for the phantom with two images 90° apart, and 0.99 ± 0.41 mm (81%, 16.3 s) for the cadaveric specimen with images 58.5° apart. The experimental results showed the feasibility of the proposed registration framework as a practical alternative for IGS routines.

Original languageEnglish (US)
Article number6084753
Pages (from-to)948-962
Number of pages15
JournalIEEE transactions on medical imaging
Volume31
Issue number4
DOIs
StatePublished - Apr 1 2012

Keywords

  • C-arm pose tracking
  • GPU-acceleration
  • image-guided surgery
  • intraoperative 2D/3D registration

ASJC Scopus subject areas

  • Software
  • Radiological and Ultrasound Technology
  • Computer Science Applications
  • Electrical and Electronic Engineering

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