Differential Image Based Robot to MRI Scanner Registration with Active Fiducial Markers for an MRI-Guided Robotic Catheter System.
Differential Image Based Robot to MRI Scanner Registration with Active Fiducial Markers for an MRI-Guided Robotic Catheter System.
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DOI：
10.1109/iros45743.2020.9341043
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发表时间：
2020-10
期刊：
影响因子：
--
通讯作者：
Çavuşoğlu MC
中科院分区：
文献类型：
--
作者：
Tuna EE;Poirot NL;Bayona JB;Franson D;Huang S;Narvaez J;Seiberlich N;Griswold M;Çavuşoğlu MC
在磁共振成像（MRI）引导的机器人导管消融手术中，需要在MRI扫描仪内对导管进行可靠跟踪，以安全导航导管。这需要导管与扫描仪的准确配准。本文提出了一种利用主动基准线圈的差分、基于多切片图像的配准方法。所提出的方法将用于术前配准MRI图像空间与物理导管空间。在所提出的方案中，配准是在配准框架的帮助下进行的，该配准框架具有一组嵌入式电磁线圈，该电磁线圈被设计成主动地创建MRI图像伪影。这些线圈在MRI扫描仪的坐标系中通过背景减除来检测。每个切片中检测到的线圈位置通过伪影大小加权，然后通过最小二乘拟合配准到导管坐标系中的已知真实线圈位置。所提出的方法进行了验证，通过使用一组目标线圈放置在工作空间内，采用多平面功能的MRI扫描仪。平均配准和验证误差分别计算为1.97 mm和2.49 mm。多切片方法还与单切片方法进行了比较，并显示分别提高了0.45 mm和0.66 mm的配准和验证。
In magnetic resonance imaging (MRI) guided robotic catheter ablation procedures, reliable tracking of the catheter within the MRI scanner is needed to safely navigate the catheter. This requires accurate registration of the catheter to the scanner. This paper presents a differential, multi-slice image-based registration approach utilizing active fiducial coils. The proposed method would be used to preoperatively register the MRI image space with the physical catheter space. In the proposed scheme, the registration is performed with the help of a registration frame, which has a set of embedded electromagnetic coils designed to actively create MRI image artifacts. These coils are detected in the MRI scanner’s coordinate system by background subtraction. The detected coil locations in each slice are weighted by the artifact size and then registered to known ground truth coil locations in the catheter’s coordinate system via least-squares fitting. The proposed approach is validated by using a set of target coils placed withing the workspace, employing multi-planar capabilities of the MRI scanner. The average registration and validation errors are respectively computed as 1.97 mm and 2.49 mm. The multi-slice approach is also compared to the single-slice method and shown to improve registration and validation by respectively 0.45 mm and 0.66 mm.
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影响因子：
--
作者：
Dimaio, S. P.;Pieper, S.;Kikins, R.
通讯作者：
Kikins, R.
对磁性磁性驱动导管的三维挠度的建模和验证。
DOI：
10.1109/tbme.2015.2510743
发表时间：
2016-10
期刊：
IEEE transactions on bio-medical engineering
影响因子：
--
作者：
Liu T;Poirot NL;Franson D;Seiberlich N;Griswold MA;Cavusoglu MC
通讯作者：
Cavusoglu MC
DOI：
10.1364/josaa.5.001127
发表时间：
1988-07-01
影响因子：
1.9
作者：
HORN, BKP;HILDEN, HM;NEGAHDARIPOUR, S
通讯作者：
NEGAHDARIPOUR, S
影响因子：
3.3
作者：
Eggert, DW;Lorusso, A;Fischer, RB
通讯作者：
Fischer, RB
影响因子：
3.3
作者：
de Oliveira, Andre;Rauschenberg, Jaane;Bock, Michael
通讯作者：
Bock, Michael