IEEE Trans Med Imaging. 2020 Jan;39(1):161-174. doi: 10.1109/TMI.2019.2922931. Epub 2019 Jun 13.
In minimally invasive procedures, the clinician relies on image guidance to observe and navigate the operation site. In order to show structures which are not visible in the live X-ray images, such as vessels or planning annotations, X-ray images can be augmented with pre-operatively acquired images. Accurate image alignment is needed and can be provided by 2-D/3-D registration. In this paper, a multi-view registration method based on the point-to-plane correspondence model is proposed. The correspondence model is extended to be independent of the used camera coordinates and different multi-view registration schemes are introduced and compared. Evaluation is performed for a wide range of clinically relevant registration scenarios. We show for different applications that registration using correspondences from both views simultaneously provides accurate and robust registration, while the performance of the other schemes varies considerably. Our method also outperforms the state-of-the-art method for cerebral angiography registration, achieving a capture range of 18 mm and an accuracy of 0.22±0.07 mm. Furthermore, investigations on the minimum angle between the views are performed in order to provide accurate and robust registration, while minimizing the obstruction to the clinical workflow. We show that small angles around 30° are sufficient to provide reliable registration results.
在微创手术中，临床医生依赖于图像引导来观察和导航手术部位。为了显示在实时 X 射线图像中不可见的结构，例如血管或规划注释，可以将术前获得的图像与 X 射线图像叠加。需要进行准确的图像配准，可以通过 2D/3D 配准来提供。在本文中，提出了一种基于点到平面对应模型的多视图配准方法。对应模型被扩展为独立于使用的相机坐标，并且引入并比较了不同的多视图配准方案。针对广泛的临床相关配准场景进行了评估。我们展示了不同应用程序的结果，使用来自两个视图的对应关系同时进行配准可以提供准确和稳健的配准，而其他方案的性能则有很大差异。我们的方法还优于用于脑血管造影配准的最新方法，实现了 18mm 的捕获范围和 0.22±0.07mm 的精度。此外，还进行了视图之间最小角度的研究，以便在最小化对临床工作流程的干扰的同时提供准确和稳健的配准。我们表明，大约 30°的小角度足以提供可靠的配准结果。
