Abstract
Abstract. C-arm X-ray imaging systems are widely applied in surgeries. Overlaying X-ray with optical images during the surgery has been shown to be an efficient approach. Moreover, overlaying needed data from different modalities in an augmented reality (AR) manner can improve the accuracy of surgical procedures, decrease the variability of surgical outcomes, reduce trauma to the critical structures, increase the reproducibility of surgeons’ performance, and reduce radiation exposure. C-Arm geometric calibration and recovering the C-arm pose are essential for surgical navigation and AR applications in operating rooms. Therefore, in this paper, existing researches for calibration and pose estimation of C-arm devices in surgical AR applications are evaluated from photogrammetric point of view. Then, a proposed marker-based method for C-arm pose estimation is introduced. For this purpose, a marker is designed to facilitate tracking and pose estimation in mixed reality based on golden section principle, and perspective invariants such as cross-ratios, collinearity, and intersection. Moreover, a procedure is also proposed for fast determination of these fiducial markers. The experiments show benefits of such a structure which has a limited occlusion with consistency to different conditions such as narrow field of view and at the same time, even in images with high projectivity. It also results that the distortion correction step is important and the effect of distortion of X-ray images can cause inconsistency in the perspective invariants.
Highlights
Mobile C-arm X-ray imaging is commonly applied in operating rooms for guiding surgeries
To design a new efficient multi-modal marker, for the first time, we combine golden section principle, and cross-ratio in a pentagram structure for fiducial marker to facilitate C-arm tracking and pose estimation with least occlusion, with high contrast, accuracy and speed in mixed reality applications and at the same time considering the C-arm limitations such as narrow field of view. As it is mentioned in the previous section, C-arm pose estimation is needed for surgical navigation and augmented reality applications
Recent methods for calibration and pose estimation of C-arm for augmented reality and navigation in the operating rooms are evaluated from different aspects
Summary
Mobile C-arm X-ray imaging is commonly applied in operating rooms for guiding surgeries. Accurate intra-operative information of the treated anatomy provided by C-arm X-ray images can improve the results of orthopedic operations and treatments In this way, clinicians use this device to track the progress of the surgery and make the corrections that might be needed. Many researches have been done for optimizing the usage of X-ray images in surgery for solving these problems Due to these limitations, one possible solution is the use of Augmented Reality (AR) and overlaying X-ray with optical data, and other modalities. One possible solution is the use of Augmented Reality (AR) and overlaying X-ray with optical data, and other modalities This has been demonstrated to be an efficient way to facilitate navigation during procedures and reduce radiation expose for both patient and clinicians by requiring fewer image acquisition (Navab et al, 2010).
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