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Can real-time RGBD enhance intraoperative Cone-Beam CT?

International Journal of Computer Assisted Radiology and Surgery volume 12, pages 1211–1219 (2017)Cite this article

Abstract

Purpose

Cone-Beam Computed Tomography (CBCT) is an important 3D imaging technology for orthopedic, trauma, radiotherapy guidance, angiography, and dental applications. The major limitation of CBCT is the poor image quality due to scattered radiation, truncation, and patient movement. In this work, we propose to incorporate information from a co-registered Red-Green-Blue-Depth (RGBD) sensor attached near the detector plane of the C-arm to improve the reconstruction quality, as well as correcting for undesired rigid patient movement.

Methods

Calibration of the RGBD and C-arm imaging devices is performed in two steps: (i) calibration of the RGBD sensor and the X-ray source using a multimodal checkerboard pattern, and (ii) calibration of the RGBD surface reconstruction to the CBCT volume. The patient surface is acquired during the CBCT scan and then used as prior information for the reconstruction using Maximum-Likelihood Expectation-Maximization. An RGBD-based simultaneous localization and mapping method is utilized to estimate the rigid patient movement during scanning.

Results

Performance is quantified and demonstrated using artificial data and bone phantoms with and without metal implants. Finally, we present movement-corrected CBCT reconstructions based on RGBD data on an animal specimen, where the average voxel intensity difference reduces from 0.157 without correction to 0.022 with correction.

Conclusion

This work investigated the advantages of a C-arm X-ray imaging system used with an attached RGBD sensor. The experiments show the benefits of the opto/X-ray imaging system in: (i) improving the quality of reconstruction by incorporating the surface information of the patient, reducing the streak artifacts as well as the number of required projections, and (ii) recovering the scanning trajectory for the reconstruction in the presence of undesired patient rigid movement.

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Notes

  1. http://imfusion.de/products/imfusion-suite.

  2. Values reported as mean ± standard deviation.

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Acknowledgements

The authors thank 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

    Affiliations

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

      Javad Fotouhi, Bernhard Fuerst & Nassir Navab

    2. ImFusion GmbH, Munich, Germany

      Wolfgang Wein

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

      Nassir Navab

    Authors
    1. Javad Fotouhi
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    2. Bernhard Fuerst
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    3. Wolfgang Wein
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    4. Nassir Navab
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    Corresponding author

    Correspondence to Javad Fotouhi.

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    Funding

    Research reported in this publication was partially supported by NIAMS of the National Institutes of Health under award number T32AR067708, by the Johns Hopkins-Coulter Translational Partnership, and by Johns Hopkins University internal funding sources.

    Conflict of interest

    The authors declare that they have no conflict of interest.

    Ethical approval

    This article does not contain any studies with human participants performed by any of the authors. This research does not qualify as human subjects research.

    Additional information

    J. Fotouhi and B. Fuerst contributed equally and should be considered joint first authors.

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    Cite this article

    Fotouhi, J., Fuerst, B., Wein, W. et al. Can real-time RGBD enhance intraoperative Cone-Beam CT?. Int J CARS 12, 1211–1219 (2017). https://doi.org/10.1007/s11548-017-1572-y

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    • DOI: https://doi.org/10.1007/s11548-017-1572-y

    Keywords

    • Cone-Beam CT
    • RGBD
    • Intraoperative
    • Tomographic reconstruction
    • MLEM
    • Algebraic reconstruction