Real-time fusion of endoscopic views with dynamic 3-D cardiac images: A phantom study
Real-time fusion of endoscopic views with dynamic 3-D cardiac images: A phantom study
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DOI：
10.1109/tmi.2005.853639
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发表时间：
2005-09-01
影响因子：
10.6
通讯作者：
Peters, TM
中科院分区：
文献类型：
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作者：
Szpala, S;Wierzbicki, M;Peters, TM
微创机器人辅助心脏手术系统目前不常规地采用3-D图像引导。然而，术前磁共振和计算机断层扫描（CT）图像有可能被用于这一角色，如果适当地与患者解剖结构配准，并与实际心脏的运动同步动画。本文讨论了从光学跟踪内窥镜获得的跳动的心脏体模的光学图像的融合，从动态CT数据集创建的体模的体积图像。通过首先从一系列时间帧中提取心脏的运动参数，然后应用该信息来动画制作在收缩末期采集的高质量心脏图像，来创建高质量术前动态CT图像。内窥镜和CT模型的时间同步通过基于心电图触发信号从动态集合中选择适当的CT图像来实现。光学图像和虚拟图像之间的空间误差为1.4 +/- 1.1 mm，而时间差异通常为50-100 ms。
Minimally invasive robotically assisted cardiac surgical systems currently do not routinely employ 3-D image guidance. However, preoperative magnetic resonance and computed tomography (CT) images have the potential to be used in this role, if appropriately registered with the patient anatomy and animated synchronously with the motion of the actual heart. This paper discusses the fusion of optical images of a beating heart phantom obtained from an optically tracked endoscope, with volumetric images of the phantom created from a dynamic CT dataset. High quality preoperative dynamic CT images are created by first extracting the motion parameters of the heart from the series of temporal frames, and then applying this information to animate a high-quality heart image acquired at end systole. Temporal synchronization of the endoscopic and CT model is achieved by selecting the appropriate CT image from the dynamic set, based on an electrocardiographic trigger signal. The spatial error between the optical and virtual images is 1.4 +/- 1.1 mm, while the time discrepancy is typically 50-100 ms.