12 April 2005 A robust fluoroscope tracking (FTRAC) fiducial
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Abstract
Purpose: C-arm fluoroscopy is ubiquitous in contemporary surgery, but it lacks the ability to accurately reconstruct 3D information. A major obstacle in fluoroscopic reconstruction is discerning the pose of the X-ray image, in 3D space. Optical/magnetic trackers are prohibitively expensive, intrusive and cumbersome. Method: We present single-image-based fluoroscope tracking (FTRAC) with the use of an external radiographic fiducial consisting of a mathematically optimized set of points, lines, and ellipses. The fiducial encodes six degrees of freedom in a single image by creating a unique view from any direction. A non-linear optimizer can rapidly compute the pose of the fiducial using this image. The current embodiment has salient attributes: small dimensions (3 x 3 x 5 cm), it need not be close to the anatomy of interest and can be segmented automatically. Results: We tested the fiducial and the pose recovery method on synthetic data and also experimentally on a precisely machined mechanical phantom. Pose recovery had an error of 0.56 mm in translation and 0.33° in orientation. Object reconstruction had a mean error of 0.53 mm with 0.16 mm STD. Conclusion: The method offers accuracies similar to commercial tracking systems, and is sufficiently robust for intra-operative quantitative C-arm fluoroscopy.
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Ameet Kumar Jain, Ameet Kumar Jain, Tabish Mustufa, Tabish Mustufa, Yu Zhou, Yu Zhou, E. Clif Burdette, E. Clif Burdette, Gregory S. Chirikjian, Gregory S. Chirikjian, Gabor Fichtinger, Gabor Fichtinger, "A robust fluoroscope tracking (FTRAC) fiducial", Proc. SPIE 5744, Medical Imaging 2005: Visualization, Image-Guided Procedures, and Display, (12 April 2005); doi: 10.1117/12.595782; https://doi.org/10.1117/12.595782
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