3D motion tracking of pulmonary lesions using CT fluoroscopy images for robotically assisted lung biopsy

Sheng Xu; Gabor Fichtinger; Russell H. Taylor; Kevin R. Cleary

doi:10.1117/12.534056

5 May 2004 3D motion tracking of pulmonary lesions using CT fluoroscopy images for robotically assisted lung biopsy

Sheng Xu, Gabor Fichtinger, Russell H. Taylor, Kevin R. Cleary

Proceedings Volume 5367, Medical Imaging 2004: Visualization, Image-Guided Procedures, and Display; (2004) https://doi.org/10.1117/12.534056
Event: Medical Imaging 2004, 2004, San Diego, California, United States

Abstract

We are developing a prototype system for robotically assisted lung biopsy. For directing the robot in biopsy needle placement, we propose a non-invasive algorithm to track the 3D position of the target lesion using 2D CT fluoroscopy image sequences. A small region of the CT fluoroscopy image is registered to a corresponding region in a pre-operative CT volume to infer the position of the target lesion with respect to the imaging plane. The registration is implemented in a coarse to fine fashion. The local deformation between the two regions is modeled by an affine transformation. The sum-of-squared-differences (SSD) between the two regions is minimized using the Levenberg-Marquardt method. Multi-resolution and multi-start strategies are used to avoid local minima. As a result, multiple candidate transformations between the two regions are obtained, from which the true transformation is selected by similarity voting. The true transformation of each frame of the CT fluoroscopy image is then incorporated into a Kalman filter to predict the lesion’s position for the next frame. Tests were completed to evaluate the performance of the algorithm using a respiratory motion simulator and a swine animal study.

Citation Download Citation

Sheng Xu, Gabor Fichtinger, Russell H. Taylor, and Kevin R. Cleary "3D motion tracking of pulmonary lesions using CT fluoroscopy images for robotically assisted lung biopsy", Proc. SPIE 5367, Medical Imaging 2004: Visualization, Image-Guided Procedures, and Display, (5 May 2004); https://doi.org/10.1117/12.534056

ACCESS THE FULL ARTICLE

INSTITUTIONAL
Select your institution to access the SPIE Digital Library.

SELECT YOUR INSTITUTION

PERSONAL
Sign in with your SPIE account to access your personal subscriptions or to use specific features such as save to my library, sign up for alerts, save searches, etc.

PERSONAL SIGN IN

No SPIE Account? Create one

PURCHASE THIS CONTENT

SUBSCRIBE TO DIGITAL LIBRARY

50 downloads per 1-year subscription

Members: $195

Non-members: $335 ADD TO CART

25 downloads per 1 - year subscription

Members: $145

Non-members: $250 ADD TO CART

PURCHASE SINGLE ARTICLE

Includes PDF, HTML & Video, when available