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Proceedings Paper

A robust fluoroscope tracking (FTRAC) fiducial
Author(s): Ameet Kumar Jain; Tabish Mustufa; Yu Zhou; E. Clif Burdette; Gregory S. Chirikjian; Gabor Fichtinger
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Paper Abstract

Purpose: C-arm fluoroscopy is ubiquitous in contemporary surgery, but it lacks the ability to accurately reconstruct 3D information. A major obstacle in fluoroscopic reconstruction is discerning the pose of the X-ray image, in 3D space. Optical/magnetic trackers are prohibitively expensive, intrusive and cumbersome. Method: We present single-image-based fluoroscope tracking (FTRAC) with the use of an external radiographic fiducial consisting of a mathematically optimized set of points, lines, and ellipses. The fiducial encodes six degrees of freedom in a single image by creating a unique view from any direction. A non-linear optimizer can rapidly compute the pose of the fiducial using this image. The current embodiment has salient attributes: small dimensions (3 x 3 x 5 cm), it need not be close to the anatomy of interest and can be segmented automatically. Results: We tested the fiducial and the pose recovery method on synthetic data and also experimentally on a precisely machined mechanical phantom. Pose recovery had an error of 0.56 mm in translation and 0.33° in orientation. Object reconstruction had a mean error of 0.53 mm with 0.16 mm STD. Conclusion: The method offers accuracies similar to commercial tracking systems, and is sufficiently robust for intra-operative quantitative C-arm fluoroscopy.

Paper Details

Date Published: 12 April 2005
PDF: 12 pages
Proc. SPIE 5744, Medical Imaging 2005: Visualization, Image-Guided Procedures, and Display, (12 April 2005); doi: 10.1117/12.595782
Show Author Affiliations
Ameet Kumar Jain, Johns Hopkins Univ. (United States)
Tabish Mustufa, Johns Hopkins Univ. (United States)
Yu Zhou, Johns Hopkins Univ. (United States)
E. Clif Burdette, Computerized Medical Systems, Inc. (United States)
Gregory S. Chirikjian, Johns Hopkins Univ. (United States)
Gabor Fichtinger, Johns Hopkins Univ. (United States)


Published in SPIE Proceedings Vol. 5744:
Medical Imaging 2005: Visualization, Image-Guided Procedures, and Display
Robert L. Galloway; Kevin R. Cleary, Editor(s)

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