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Calibration of RGBD camera and cone-beam CT for 3D intra-operative mixed reality visualization

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

This work proposes a novel algorithm to register cone-beam computed tomography (CBCT) volumes and 3D optical (RGBD) camera views. The co-registered real-time RGBD camera and CBCT imaging enable a novel augmented reality solution for orthopedic surgeries, which allows arbitrary views using digitally reconstructed radiographs overlaid on the reconstructed patient’s surface without the need to move the C-arm.

Methods

An RGBD camera is rigidly mounted on the C-arm near the detector. We introduce a calibration method based on the simultaneous reconstruction of the surface and the CBCT scan of an object. The transformation between the two coordinate spaces is recovered using Fast Point Feature Histogram descriptors and the Iterative Closest Point algorithm.

Results

Several experiments are performed to assess the repeatability and the accuracy of this method. Target registration error is measured on multiple visual and radio-opaque landmarks to evaluate the accuracy of the registration. Mixed reality visualizations from arbitrary angles are also presented for simulated orthopedic surgeries.

Conclusion

To the best of our knowledge, this is the first calibration method which uses only tomographic and RGBD reconstructions. This means that the method does not impose a particular shape of the phantom. We demonstrate a marker-less calibration of CBCT volumes and 3D depth cameras, achieving reasonable registration accuracy. This design requires a one-time factory calibration, is self-contained, and could be integrated into existing mobile C-arms to provide real-time augmented reality views from arbitrary angles.

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Notes

  1. Open-source code available at https://github.com/Nerei/kinfu_remake.

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Acknowledgments

The authors want to thank Wolfgang Wein and his team from ImFusion GmbH, Munich, for the opportunity of using the ImFusion Suite, and Gerhard Kleinzig and Sebastian Vogt from SIEMENS for their support and making a SIEMENS ARCADIS Orbic 3D available for this research.

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Author notes

    Authors and Affiliations

    1. Computer Aided Medical Procedures, Johns Hopkins University, Baltimore, MD, USA

      Sing Chun Lee, Bernhard Fuerst, Javad Fotouhi, Marius Fischer & Nassir Navab

    2. Computer Aided Medical Procedures, Technische Universität München, Munich, Germany

      Bernhard Fuerst & Nassir Navab

    3. Trauma Surgery Department, Klinikum Innenstadt, LMU Munich, Munich, Germany

      Marius Fischer

    4. Orthopaedic Trauma, Department of Orthopaedic Surgery, Johns Hopkins Hospital, Baltimore, MD, USA

      Greg Osgood

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    1. Sing Chun Lee
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    2. Bernhard Fuerst
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    Correspondence to Sing Chun Lee.

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    This article does not contain any studies with human participants or animals performed by any of the authors.

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    S. C. Lee and B. Fuerst contributed equally to the work and should be regarded as joint first authors.

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    Lee, S.C., Fuerst, B., Fotouhi, J. et al. Calibration of RGBD camera and cone-beam CT for 3D intra-operative mixed reality visualization. Int J CARS 11, 967–975 (2016). https://doi.org/10.1007/s11548-016-1396-1

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    • DOI: https://doi.org/10.1007/s11548-016-1396-1

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