Alignment of angiographic 3D scans to 2D projections is an important issue for 3D depth perception and navigation during interventions. Currently, in a setting where only one 2D projection is available, methods employing a rigid transformation model present the state of the art for this problem. In this work, we introduce a method capable of deformably registering 3D vessel structures to a respective single projection of the scene. Our approach addresses the inherent ill-posedness of the problem by incorporating a priori knowledge about the vessel structures into the formulation. We minimize the distance between the 2D points and corresponding projected 3D points together with regularization terms encoding the properties of length preservation of vessel structures and smoothness of deformation. We demonstrate the performance and accuracy of the proposed method by quantitative tests on synthetic examples as well as real angiographic scenes.
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Abstract-This work presents a novel scheme for tracking of motion and deformation of interventional tools such as guidewires and catheters in fluoroscopic X-ray sequences. Being able to track and thus to estimate the correct positions of these tools is crucial in order to offer guidance enhancement during interventions. The task of estimating the apparent motion is particularly challenging due to the low signal to noise ratio (SNR) of fluoroscopic images and due to combined motion components originating from patient breathing and tool interactions performed by the physician.The presented approach is based on modeling interventional tools with B-splines whose optimal configuration of control points is determined through efficient discrete optimization. Each control point corresponds to a discrete random variable in a Markov random field (MRF) formulation where a set of labels represents the deformation space. In this context, the optimal curve corresponds to the maximum a posteriori (MAP) estimate of the MRF energy. The main motivation for employing a discrete approach is the possibility to incorporate a multi-directional search space which is robust to local minima. This is of particular interest for curve tracking under large deformation.This work analyzes feasibility of employing efficient first-order MRFs for tracking. In particular it shows how to achieve a good compromise between energy approximations and computational efficiency. Experimental results suggest to define both the external and internal energy in terms of pairwise potential functions. The method was successfully applied to the tracking of guide-wires in fluoroscopic X-ray sequences of several hundred frames which requires extremely robust techniques. Comparisons with state-ofthe-art guide-wire tracking algorithms confirm the effectiveness of the proposed method.
We propose a framework for intensity-based registration of images by linear transformations, based on a discrete Markov Random Field (MRF) formulation. Here, the challenge arises from the fact that optimizing the energy associated with this problem requires a high-order MRF model. Currently, methods for optimizing such high-order models are less general, easy to use, and efficient, than methods for the popular second-order models. Therefore, we propose an approximation to the original energy by an MRF with tractable second-order terms. The approximation at a certain point p in the parameter space is the normalized sum of evaluations of the original energy at projections of p to two-dimensional subspaces. We demonstrate the quality of the proposed approximation by computing the correlation with the original energy, and show that registration can be performed by discrete optimization of the approximated energy in an iteration loop. A search space refinement strategy is employed over iterations to achieve sub-pixel accuracy, while keeping the number of labels small for efficiency. The proposed framework can encode any similarity measure, is robust to the settings of the internal parameters, and allows an intuitive control of the parameter ranges. We demonstrate the applicability of the framework by intensity-based registration, and 2D-3D registration of medical images. The evaluation is performed by random studies and real registration tasks. The tests indicate increased robustness and precision compared to corresponding standard optimization of the original energy, and demonstrate robustness to noise. Finally, the proposed framework allows the transfer of advances in MRF optimization to linear registration problems.
Abstract. 2D-3D registration of abdominal angiographic data is a difficult problem due to hard time constraints during the intervention, different vessel contrast in volume and image, and motion blur caused by breathing. We propose a novel method for aligning 2D Digitally Subtracted Angiograms (DSA) to Computed Tomography Angiography (CTA) volumes, which requires no user interaction intrainterventionally. In an iterative process, we link 2D segmentation and 2D-3D registration using a probability map, which creates a common feature space where outliers in 2D and 3D are discarded consequently. Unlike other approaches, we keep user interaction low while high capture range and robustness against vessel variability and deformation are maintained. Tests on five patient data sets and a comparison to two recently proposed methods show the good performance of our method.
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