Abstract
Abstract Laser bow systems are used for intervention guidance by steering laser rays. Such systems have shown applications in biopsy, nasal surgeries, drainage, pain therapy. In this paper, we introduce an image-based laser guided CT intervention. Instead of relying on traditional laser bow rigidly mounted to the CT scanner, our approach performs registration making use of a patient tracker in image as well as CT data to find the orientation of laser bow with respect to the CT data. The image is acquired by a camera rigidly connected to the laser bow. The proposed approach allows movability to the laser bow system without compromising on accuracy. Using camera allows real-time view of the intervention and can be used for futuristic applications.
Highlights
Guided interventions have proven to be useful in biopsy, nasal surgeries, drainage, tumour, and pain therapy
We propose a flexible laser bow system, housing a color+depth (RGB-D) camera
The patient tracker which has high CT number can be detected in the CT DICOM data, as well its unique line and ellipse features help it to be identified in the camera image
Summary
Guided interventions have proven to be useful in biopsy, nasal surgeries, drainage, tumour, and pain therapy. To allow such interventions, planning is performed on pre-surgically acquired CT or x-ray data. The state-of-the art laser guided systems like Atlas 3D-LNS allows the surgeon to perform planning on CT data and guide the surgical intervention by a laser beam. The camera gives additional degree of freedom to the laser bow system This is made possible by placing a patient tracker (Fig. 1) as a registration element on the region of intervention. The two transforms can be combined to obtain the CT to laser bow system transform This transformation is applied to the CT data before planning the intervention. The planning which was previously possible only in the CT plane (to which the laser bow plane needed to be parallel) can be performed in the laser bow plane
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