Recovering the X-ray projection geometry for three-dimensional tomographic reconstruction with additional sensors: attached camera versus external navigation system

Applications of Augmented Reality in Orthopaedic Spine Surgery

The application of augmented reality (AR) in surgical settings has primarily been as a navigation tool in the operating room because of its ease of use and minimal effect on surgical procedures. The surgeon can directly face the surgical field while viewing 3D anatomy virtually, thus reducing the need to look at an external display, such as a navigation system. Applications of AR are being explored in spine surgery. The basic principles of AR include data preparation, registration, tracking, and visualization. Current literature provides sufficient preclinical and clinical data evidence for the use of AR technology in spine surgery. AR systems are efficient assistive devices, providing greater accuracy for insertion points, more comfort for surgeons, and reduced operating time. AR technology also has beneficial applications in surgical training, education, and telementorship for spine surgery. However, costs associated with specially designed imaging equipment and physicians' comfort in using this technology continue to remain barriers to its adoption. As this technology evolves to a more widespread use, future applications will be directed by the cost-effectiveness of AR-assisted surgeries.

AAPM Task Group Report 238: 3D C-arms with volumetric imaging capability

This report reviews the image acquisition and reconstruction characteristics of C-arm Cone Beam Computed Tomography (C-arm CBCT) systems and provides guidance on quality control of C-arm systems with this volumetric imaging capability. The concepts of 3D image reconstruction, geometric calibration, image quality, and dosimetry covered in this report are also pertinent to CBCT for Image-Guided Radiation Therapy (IGRT). However, IGRT systems introduce a number of additional considerations, such as geometric alignment of the imaging at treatment isocenter, which are beyond the scope of the charge to the task group and the report. Section 1 provides an introduction to C-arm CBCT systems and reviews a variety of clinical applications. Section 2 briefly presents nomenclature specific or unique to these systems. A short review of C-arm fluoroscopy quality control (QC) in relation to 3D C-arm imaging is given in Section 3. Section 4 discusses system calibration, including geometric calibration and uniformity calibration. A review of the unique approaches and challenges to 3D reconstruction of data sets acquired by C-arm CBCT systems is give in Section 5. Sections 6 and 7 go in greater depth to address the performance assessment of C-arm CBCT units. First, Section 6 describes testing approaches and phantoms that may be used to evaluate image quality (spatial resolution and image noise and artifacts) and identifies several factors that affect image quality. Section 7 describes both free-in-air and in-phantom approaches to evaluating radiation dose indices. The methodologies described for assessing image quality and radiation dose may be used for annual constancy assessment and comparisons among different systems to help medical physicists determine when a system is not operating as expected. Baseline measurements taken either at installation or after a full preventative maintenance service call can also provide valuable data to help determine whether the performance of the system is acceptable. Collecting image quality and radiation dose data on existing phantoms used for CT image quality and radiation dose assessment, or on newly developed phantoms, will inform the development of performance criteria and standards. Phantom images are also useful for identifying and evaluating artifacts. In particular, comparing baseline data with those from current phantom images can reveal the need for system calibration before image artifacts are detected in clinical practice. Examples of artifacts are provided in Sections 4, 5, and 6.

A shape-partitioned statistical shape model for highly deformed femurs using X-ray images

To develop a patient-specific 3 D reconstruction of a femur modeled using the statistical shape model (SSM) and X-ray images, it is assumed that the target shape is not outside the range of variations allowed by the SSM built from a training dataset. We propose the shape-partitioned statistical shape model (SPSSM) to cover significant variations in the target shape. This model can divide a shape into several segments of anatomical interest. We break up the eigenvector matrix into the corresponding representative matrices for the SPSSM by preserving the relevant rows of the original matrix without segmenting the shape and building an independent SSM for each segment. To quantify the reconstruction error of the proposed method, we generated two groups of deformation models of the femur which cannot be easily represented by the conventional SSM. One group of femurs had an anteversion angle deformation, and the other group of femurs had two different scales of the femoral head. Each experiment was performed using the leave-one-out method for twelve femurs. When the femoral head was rotated by 30°, the average reconstruction error of the conventional SSM was 5.34 mm, which was reduced to 3.82 mm for the proposed SPSSM. When the femoral head size was decreased by 20%, the average reconstruction error of the SSM was 4.70 mm, which was reduced to 3.56 mm for the SPSSM. When the femoral head size was increased by 20%, the average reconstruction error of the SSM was 4.28 mm, which was reduced to 3.10 mm for the SPSSM. The experimental results for the two groups of deformation models showed that the proposed SPSSM outperformed the conventional SSM.

Medical Robotics in Bone Fracture Reduction Surgery: A Review

Since the advantages of precise operation and effective reduction of radiation, robots have become one of the best choices for solving the defects of traditional fracture reduction surgery. This paper focuses on the application of robots in fracture reduction surgery, design of the mechanism, navigation technology, robotic control, interaction technology, and the bone-robot connection technology. Through literature review, the problems in current fracture reduction robot and its future development are discussed.

Geometrical Calibration of X-Ray Imaging With RGB Cameras for 3D Reconstruction

We present a methodology to recover the geometrical calibration of conventional X-ray settings with the help of an ordinary video camera and visible fiducials that are present in the scene. After calibration, equivalent points of interest can be easily identifiable with the help of the epipolar geometry. The same procedure also allows the measurement of real anatomic lengths and angles and obtains accurate 3D locations from image points. Our approach completely eliminates the need for X-ray-opaque reference marks (and necessary supporting frames) which can sometimes be invasive for the patient, occlude the radiographic picture, and end up projected outside the imaging sensor area in oblique protocols. Two possible frameworks are envisioned: a spatially shifting X-ray anode around the patient/object and a moving patient that moves/rotates while the imaging system remains fixed. As a proof of concept, experiences with a device under test (DUT), an anthropomorphic phantom and a real brachytherapy session have been carried out. The results show that it is possible to identify common points with a proper level of accuracy and retrieve three-dimensional locations, lengths and shapes with a millimetric level of precision. The presented approach is simple and compatible with both current and legacy widespread diagnostic X-ray imaging deployments and it can represent a good and inexpensive alternative to other radiological modalities like CT.

Axially extended-volume C-arm CT using a reverse helical trajectory in the interventional room

C-arm computed tomography (CT) is an innovative technique that enables a C-arm system to generate 3-D images from a set of 2-D X-ray projections. This technique can reduce treatment-related complications and may improve interventional efficacy and safety. However, state-of-the-art C-arm systems rely on a circular short scan for data acquisition, which limits coverage in the axial direction. This limitation was reported as a problem in hepatic vascular interventions. To solve this problem, as well as to further extend the value of C-arm CT, axially extended-volume C-arm CT is needed. For example, such an extension would enable imaging the full aorta, the peripheral arteries or the spine in the interventional room, which is currently not feasible. In this paper, we demonstrate that performing long object imaging using a reverse helix is feasible in the interventional room. This demonstration involved developing a novel calibration method, assessing geometric repeatability, implementing a reconstruction method that applies to real reverse helical data, and quantitatively evaluating image quality. Our results show that: 1) the reverse helical trajectory can be implemented and reliably repeated on a multiaxis C-arm system; and 2) a long volume can be reconstructed with satisfactory image quality using reverse helical data.

Camera augmented mobile C-arm (CAMC): calibration, accuracy study, and clinical applications

Mobile C-arm is an essential tool in everyday trauma and orthopedics surgery. Minimally invasive solutions, based on X-ray imaging and coregistered external navigation created a lot of interest within the surgical community and started to replace the traditional open surgery for many procedures. These solutions usually increase the accuracy and reduce the trauma. In general, they introduce new hardware into the OR and add the line of sight constraints imposed by optical tracking systems. They thus impose radical changes to the surgical setup and overall procedure. We augment a commonly used mobile C-arm with a standard video camera and a double mirror system allowing real-time fusion of optical and X-ray images. The video camera is mounted such that its optical center virtually coincides with the C-arm's X-ray source. After a one-time calibration routine, the acquired X-ray and optical images are coregistered. This paper describes the design of such a system, quantifies its technical accuracy, and provides a qualitative proof of its efficiency through cadaver studies conducted by trauma surgeons. In particular, it studies the relevance of this system for surgical navigation within pedicle screw placement, vertebroplasty, and intramedullary nail locking procedures. The image overlay provides an intuitive interface for surgical guidance with an accuracy of < 1 mm, ideally with the use of only one single X-ray image. The new system is smoothly integrated into the clinical application with no additional hardware especially for down-the-beam instrument guidance based on the anteroposterior oblique view, where the instrument axis is aligned with the X-ray source. Throughout all experiments, the camera augmented mobile C-arm system proved to be an intuitive and robust guidance solution for selected clinical routines.

Simultaneous misalignment correction for approximate circular cone-beam computed tomography

Currently, CT scanning is often performed using flat detectors which are mounted on C-arm units or dedicated gantries as in radiation therapy or micro CT. For perspective cone-beam backprojection of the Feldkamp type (FDK) the geometry of an approximately circular scan trajectory has to be available for reconstruction. If the system or the scan geometry is afflicted with geometrical instabilities, referred to as misalignment, a non-perfect approximate circular scan is the case. Reconstructing a misaligned scan without knowledge of the true trajectory results in severe artefacts in the CT images. Unlike current methods which use a pre-scan calibration of the geometry for defined scan protocols and calibration phantoms, we propose a real-time iterative restoration of reconstruction geometry by means of entropy minimization. Entropy minimization is performed combining a simplex algorithm for multi-parameter optimization and iterative graphics card (GPU)-based FDK-reconstructions. Images reconstructed with the misaligned geometry were used as an input for the entropy minimization algorithm. A simplex algorithm changes the geometrical parameters of the source and detector with respect to the reduction of entropy. In order to reduce the size of the high-dimensional space required for minimization, the trajectory was described by only eight fix points. A virtual trajectory is generated for each iteration using a least-mean-squares algorithm to calculate an approximately circular path including these points. Entropy was minimal for the ideal dataset, whereas strong misalignment resulted in a higher entropy value. For the datasets used in this study, the simplex algorithm required 64-200 iterations to achieve an entropy value equivalent to the ideal dataset, depending on the grade of misalignment using random initialization conditions. The use of the GPU reduced the time per iteration as compared to a quad core CPU-based backprojection by a factor of 10 resulting in a total of 15-20 ms per iteration, and thus providing an online geometry restoration after a total computation time of approximately 1-3 s, depending on the number of iterations. The proposed method provides accurate geometry restoration for approximately circular scans and eliminates the need for an elaborate off-line calibration for each scan. If a priori information about the trajectory is used to initialize the simplex algorithm, it is expected that the entropy minimization will converge significantly faster.

Geometric calibration of a mobile C-arm for intraoperative cone-beam CT

A geometric calibration method that determines a complete description of source-detector geometry was adapted to a mobile C-arm for cone-beam computed tomography (CBCT). The non-iterative calibration algorithm calculates a unique solution for the positions of the source (X(s), Y(s), Z(s)), detector (X(d), Y(d), Z(d)), piercing point (U(o), V(o)), and detector rotation angles (phi, theta, eta) based on projections of a phantom consisting of two plane-parallel circles of ball bearings encased in a cylindrical acrylic tube. The prototype C-arm system was based on a Siemens PowerMobil modified to provide flat-panel CBCT for image-guided interventions. The magnitude of geometric nonidealities in the source-detector orbit was measured, and the short-term (approximately 4 h) and long-term (approximately 6 months) reproducibility of the calibration was evaluated. The C-arm exhibits large geometric nonidealities due to mechanical flex, with maximum departures from the average semicircular orbit of deltaU(o) = 15.8 mm and deltaV(o) = 9.8 mm (for the piercing point), deltaX and deltaY = 6-8 mm and deltaZ = 1 mm (for the source and detector), and deltaphi approximately 2.9 degrees, deltatheta approximately 1.9 degrees, and delta eta approximately 0.8 degrees (for the detector tilt/rotation). Despite such significant departures from a semicircular orbit, these system parameters were found to be reproducible, and therefore correctable by geometric calibration. Short-term reproducibility was < 0.16 mm (subpixel) for the piercing point coordinates, < 0.25 mm for the source-detector X and Y, < 0.035 mm for the source-detector Z, and < 0.02 degrees for the detector angles. Long-term reproducibility was similarly high, demonstrated by image quality and spatial resolution measurements over a period of 6 months. For example, the full-width at half-maximum (FWHM) in axial images of a thin steel wire increased slightly as a function of the time (delta) between calibration and image acquisition: FWHM=0.62, 0.63, 0.66, 0.71, and 0.72 mm at delta = 0 s, 1 h, 1 day, 1 month, and 6 months, respectively. For ongoing clinical trials in CBCT-guided surgery at our institution, geometric calibration is conducted monthly to provide sufficient three-dimensional (3D) image quality while managing time and workflow considerations of the calibration and quality assurance process. The sensitivity of 3D image quality to each of the system parameters was investigated, as was the tolerance to systematic and random errors in the geometric parameters, showing the most sensitive parameters to be the piercing point coordinates (U(o), V(o)) and in-plane positions of the source (X(s), Y(s)) and detector (X(d), Y(d)). Errors in the out-of-plane position of the source (Z(s)) and detector (Z(d)) and the detector angles (phi, theta, eta) were shown to have subtler effects on 3D image quality.

Cone-beam CT using a mobile C-arm: a registration solution for IGRT with an optical tracking system

A method for registering images acquired from a prototype flat panel mobile C-arm, capable of kilovoltage (kV) cone-beam computed tomography (CT), to a linear accelerator (LINAC) isocenter is presented. A calibration procedure is performed which involves locating reflective markers placed on the C-arm and a phantom in two coordinate systems. A commercial optical tracking system locates the markers relative to the LINAC isocenter (room coordinates). The cone-beam imaging capabilities of the C-arm provide the location of the markers on the calibration phantom in image coordinates. A singular value decomposition (SVD) algorithm is used to determine the relationship between the C-arm, image coordinates and room coordinates. Once the calibration is completed, the position of the C-arm at any arbitrary location is accurately determined from the tracking system. A final transformation is calculated capable of mapping voxels in the reconstructed image set to their corresponding position in room coordinates. An evaluation to determine the accuracy of this method was performed by locating markers on a phantom. The position of the phantom markers in room coordinates was obtained directly using the optical tracking system and compared with that using the described method above. A mean absolute distance of 1.4+/-0.5 was observed for a completely transformed image set. This is comparable to that of systems routinely used for image-guided radiation therapy (IGRT).

Randomized clinical study to compare the accuracy of navigated and non-navigated thoracic pedicle screws in deformity correction surgeries

STUDY DESIGN

Randomized clinical trial (level I evidence).

OBJECTIVE

To compare the accuracy of non-navigation and Iso-C based navigation in pedicle screw fixation in thoracic spine deformities.

SUMMARY OF BACKGROUND DATA

Thoracic pedicle screw insertion for spinal deformity correction can be associated with increased pedicle breaches. Iso-C based navigation has been reported to improve the accuracy of pedicle screw placement, but its use in the presence of deformity has not been reported.

METHODS

Twenty-seven patients with scoliosis and 6 patients with kyphosis had a total of 478 thoracic pedicle screws. The average Cobb angle was 58.4 degrees +/- 8 degrees (range 50 degrees -80 degrees), and the mean kyphotic angle was 54.6 degrees +/- 4 degrees (range 51 degrees -76 degrees). By random allocation, 17 patients had screw insertion under navigation (242 screws) and 16 under fluoroscopic control (236 screws). The 2 groups were compared for accuracy of screw placement, time for screw insertion, and the number of times the C-arm had to be brought into the field. Two independent blinded observers determined accuracy using postoperative computed tomography assessments.

RESULTS

There were 54 (23%) pedicle breaches in the non-navigation group as compared to only 5 (2%) in the navigation group (P < 0.001). Thirty-eight screws (16%) in the non-navigation group had penetrated the anterior or lateral cortex compared to 2 screws (0.8%) in the navigation group. Average screw insertion time in the non-navigation group was 4.61 +/- 1.05 minutes (range 1.8-6.5) compared to 2.37 +/- 0.72 minutes (range 1.16-4.5) in navigation group (P < 0.01). The C-arm had to be moved into the operation field on an average of 1.5 +/- 0.25 times (range 1-3) per screw. With single screening data, an average of 11.4 pedicles (range 9-14) could be visualized without necessity to bring the C-arm into operating field again.

CONCLUSIONS

Iso-C navigation increases accuracy, and reduces surgical time and radiation in thoracic deformity correction surgeries.

Volume CT with a flat-panel detector on a mobile, isocentric C-arm: Pre-clinical investigation in guidance of minimally invasive surgery

A mobile isocentric C-arm (Siemens PowerMobil) has been modified in our laboratory to include a large area flat-panel detector (in place of the x-ray image intensifier), providing multi-mode fluoroscopy and cone-beam computed tomography (CT) imaging capability. This platform represents a promising technology for minimally invasive, image-guided surgical procedures where precision in the placement of interventional tools with respect to bony and soft-tissue structures is critical. The image quality and performance in surgical guidance was investigated in pre-clinical evaluation in image-guided spinal surgery. The control, acquisition, and reconstruction system are described. The reproducibility of geometric calibration, essential to achieving high three-dimensional (3D) image quality, is tested over extended time scales (7 months) and across a broad range in C-arm angulation (up to 45 degrees), quantifying the effect of improper calibration on spatial resolution, soft-tissue visibility, and image artifacts. Phantom studies were performed to investigate the precision of 3D localization (viz., fiber optic probes within a vertebral body) and effect of lateral projection truncation (limited field of view) on soft-tissue detectability in image reconstructions. Pre-clinical investigation was undertaken in a specific spinal procedure (photodynamic therapy of spinal metastases) in five animal subjects (pigs). In each procedure, placement of fiber optic catheters in two vertebrae (L1 and L2) was guided by fluoroscopy and cone-beam CT. Experience across five procedures is reported, focusing on 3D image quality, the effects of respiratory motion, limited field of view, reconstruction filter, and imaging dose. Overall, the intraoperative cone-beam CT images were sufficient for guidance of needles and catheters with respect to bony anatomy and improved surgical performance and confidence through 3D visualization and verification of transpedicular trajectories and tool placement. Future investigation includes improvement in image quality, particularly regarding x-ray scatter, motion artifacts and field of view, and integration with optical tracking and navigation systems.