Abstract
For the image-guided surgery, the positioning of mobile C-arms is a key technique to take X-ray images in a desired pose for the confirmation of current surgical outcome. Unfortunately, surgeons and patient often suffer the radiation exposure due to the repeated imaging when the X-ray image is of poor quality or not captured at a good projection view. In this paper, a virtual reality (VR) aided positioning method for the mobile C-arm is proposed by the alignment of 3D surface model of region of interest and preoperative anatomy, so that a reference pose of the mobile C-arm with respect to the inside anatomy can be figured out from outside view. It allows a one-time imaging from the outside view to greatly reduce the additional radiation exposure. To control the mobile C-arm to the desired pose, the mobile C-arm is modeled as a robotic arm with a movable base. Experiments were conducted to evaluate the accuracy of appearance model and precision of mobile C-arm positioning. The appearance model was reconstructed with the average error of 2.16 mm. One-time imaging of mobile C-arm was achieved, and new modeling of mobile C-arm with 8 DoFs enlarges the working space in the operating room.
Highlights
Image-guided surgery (IGS) is a minimally invasive procedure by making small incisions on patient’s body [1]
In IGS, preoperative CT data and intraoperative X-ray images are widely used for the intervention guidance
X-ray images cannot be captured continuously due to the radiation exposure
Summary
Image-guided surgery (IGS) is a minimally invasive procedure by making small incisions on patient’s body [1]. In IGS, preoperative CT data and intraoperative X-ray images are widely used for the intervention guidance. Preoperative data is used for diagnosis and surgical planning, and X-ray images are captured to verify the surgical outcome. Accurate positioning technique of mobile C-arm is required in surgical applications, for example, percutaneous needle procedures and fracture fixation with locking screws and nails. In such cases, the C-arm needs to be piloted to the needle progression view and entry point view to confirm the current pose of the needle [2] or over the nail so that each screw hole appears as a perfect circle [3]. Mobile C-arm positioning is a routine surgical task and has become more important for the intraoperative imaging techniques [4]
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