4D motion modeling of the coronary arteries from CT images for robotic assisted minimally invasive surgery
4D motion modeling of the coronary arteries from CT images for robotic assisted minimally invasive surgery
复制标题
根据 CT 图像对冠状动脉进行 4D 运动建模，用于机器人辅助微创手术
DOI：
10.1117/12.811518
复制
发表时间：
2009
期刊：
影响因子：
--
通讯作者：
Zhang D
中科院分区：
文献类型：
--
作者：
Zhang D
在本文中，我们提出了一种新的方法，冠状动脉运动建模的心脏计算机断层扫描（CT）图像。这项工作的目的是开发一个冠状动脉的4D运动模型，用于机器人辅助的全内窥镜冠状动脉搭桥手术（TECAB）的图像引导。为了利用术前心脏图像指导微创手术，必须将4D心脏运动模型与术中使用达芬奇机器人系统获得的立体内窥镜图像进行配准。在本文中，我们正在研究冠状动脉的提取和建模他们的运动从心脏CT的动态序列。我们使用多尺度血管度滤波器来增强心脏CT图像中的血管。利用脊遍历算法提取动脉中心线。该方法在血管跟踪中只使用局部信息，可以接近实时地提取冠状动脉。为了计算由于心脏运动引起的冠状动脉变形，从心脏CT的动态序列中提取运动。该序列中的每个时间帧使用基于自由形式变形的非刚性配准算法注册到序列的舒张末期时间帧。一旦图像被注册，冠状动脉的动态运动模型可以通过应用计算的自由变形提取冠状动脉。为了验证运动模型的准确性，我们将每个时间框架内冠状动脉的实际位置与根据非刚性配准估计的冠状动脉的预测位置进行比较。我们期望这种冠状动脉运动模型可以方便TECAB手术的规划，并且通过与实时内窥镜视频图像的配准可以降低从TECAB到常规手术的转换率。
In this paper, we present a novel approach for coronary artery motion modeling from cardiac Computed Tomography( CT) images. The aim of this work is to develop a 4D motion model of the coronaries for image guidance in robotic-assisted totally endoscopic coronary artery bypass (TECAB) surgery. To utilize the pre-operative cardiac images to guide the minimally invasive surgery, it is essential to have a 4D cardiac motion model to be registered with the stereo endoscopic images acquired intraoperatively using the da Vinci robotic system. In this paper, we are investigating the extraction of the coronary arteries and the modelling of their motion from a dynamic sequence of cardiac CT. We use a multi-scale vesselness filter to enhance vessels in the cardiac CT images. The centerlines of the arteries are extracted using a ridge traversal algorithm. Using this method the coronaries can be extracted in near real-time as only local information is used in vessel tracking. To compute the deformation of the coronaries due to cardiac motion, the motion is extracted from a dynamic sequence of cardiac CT. Each timeframe in this sequence is registered to the end-diastole timeframe of the sequence using a non-rigid registration algorithm based on free-form deformations. Once the images have been registered a dynamic motion model of the coronaries can be obtained by applying the computed free-form deformations to the extracted coronary arteries. To validate the accuracy of the motion model we compare the actual position of the coronaries in each time frame with the predicted position of the coronaries as estimated from the non-rigid registration. We expect that this motion model of coronaries can facilitate the planning of TECAB surgery, and through the registration with real-time endoscopic video images it can reduce the conversion rate from TECAB to conventional procedures.
影响因子：
10.6
作者：
Frangi, AF;Niessen, WJ;Viergever, MA
通讯作者：
Viergever, MA
DOI：
10.1007/bfb0056195
发表时间：
1998-01-01
期刊：
MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION - MICCAI'98
影响因子：
--
作者：
Frangi, AF;Niessen, WJ;Viergever, MA
通讯作者：
Viergever, MA
具有细分格子的非刚性图像配准：在心脏 MR 图像分析中的应用
DOI：
10.1007/978-3-540-75757-3_41
发表时间：
2007
期刊：
Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention
影响因子：
--
作者：
R. Chandrashekara;R. Mohiaddin;R. Razavi;D. Rueckert
通讯作者：
D. Rueckert