Distortion correction and calibration of intra-operative spine X-ray images using a constrained DLT algorithm

Bertelsen, Álvaro; Garin-Muga, Alba; Echeverría, Mikel; Gomez, Emmanuel; Borro, Diego

doi:10.1016/j.compmedimag.2014.06.004

Cited by 11 publications

(2 citation statements)

References 12 publications

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“…That is, type B uncertainties that may affect the accuracy of the calibration include remaining errors due to non-linearities of the x-ray images. Several groups have shown that distortion correction can correct for non-linearities and reduce errors to well below 1 mm [18, 26, 27]. Other errors that may affect the accuracy of the calibration are the distortion and non-linearities of the gamma camera.…”

Section: Discussionmentioning

confidence: 99%

Multimodality calibration for simultaneous fluoroscopic and nuclear imaging

et al. 2016

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BackgroundSimultaneous real-time fluoroscopic and nuclear imaging could benefit image-guided (oncological) procedures. To this end, a hybrid modality is currently being developed by our group, by combining a c-arm with a gamma camera and a four-pinhole collimator. Accurate determination of the system parameters that describe the position of the x-ray tube, x-ray detector, gamma camera, and collimators is crucial to optimize image quality. The purpose of this study was to develop a calibration method that estimates the system parameters used for reconstruction.A multimodality phantom consisting of five point sources was created. First, nuclear and fluoroscopic images of the phantom were acquired at several distances from the image intensifier. The system parameters were acquired using physical measurement, and multimodality images of the phantom were reconstructed. The resolution and co-registration error of the point sources were determined as a measure of image quality. Next, the system parameters were estimated using a calibration method, which adjusted the parameters in the reconstruction algorithm, until the resolution and co-registration were optimized. For evaluation, multimodality images of a second set of phantom acquisitions were reconstructed using calibrated parameter sets. Subsequently, the resolution and co-registration error of the point sources were determined as a measure of image quality. This procedure was performed five times for different noise simulations. In addition, simultaneously acquired fluoroscopic and nuclear images of two moving syringes were obtained with parameter sets from before and after calibration.ResultsThe mean FWHM was significantly lower after calibration than before calibration for 21 out of 25 point sources. The mean co-registration error was significantly lower after calibration than before calibration for all point sources. The simultaneously acquired fluoroscopic and nuclear images showed improved co-registration after calibration as compared with before calibration.ConclusionsA calibration method was presented that improves the resolution and co-registration of simultaneously acquired hybrid fluoroscopic and nuclear images by estimating the geometric parameter set as compared with a parameter set acquired by direct physical measurement.Electronic supplementary materialThe online version of this article (doi:10.1186/s40658-016-0156-1) contains supplementary material, which is available to authorized users.

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Section: Discussionmentioning

confidence: 99%

Multimodality calibration for simultaneous fluoroscopic and nuclear imaging

et al. 2016

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“…The images derived from C-arm are usually affected by distortion which is dependent on curvature of its phosphorous panel and its surrounding electro-magnetic field [36]. Therefore, distortion correction of fluoroscopy image is necessary process in robotic system.…”

Section: ) Distortion Correctionmentioning

confidence: 99%

A Robot-Assisted Spine Surgery System Based on Intraoperative 2D Fluoroscopy Navigation

2020

IEEE Access

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In this paper, a robotic system based on intraoperative 2D fluoroscopy navigation in which fluoroscopy images are obtained by C-arm popularized in the clinic, for spine surgery is proposed. The procedure of robot-assisted spine surgery is designed and described. An improved special 6-dof hybrid robot considering both the stiffness and workspace is proposed. And the kinematic model and jacobian matrix of robot are established. To realize fluroscopy images acquisition and avoid interfering with the patient during the process of positioning, human-robot cooperation based on fuzzy variable admittance control considering arm stiffness which would influence the stability of robot, is applied in robotic system. In addition, navigation techniques containing a novel bi-planar design, a robust circular control point detector and closed-loop positioning of tool, based on fluoroscopy images are proposed. In experiments, kinematic model of hybrid robot is test based on laser tracker and the distance error is 0.17 mm which is much smaller than the motion range. The effect of tool weight compensation is measured and the max mean force and torque errors are 0.7477N and 0.0617 N.M. The experimental results could meet requirements in human-robot cooperation. Furthermore, we test the the robotic system proposed in this paper on spine model bone and cadaver with the help of surgeons. The experimental results are validated by 2D image c-arm-based and 3D image CT-based and considered clinically acceptable. INDEX TERMS Robot-assisted spine surgery system, 6-dof hybrid robot, intraoperative 2D fluoroscopy navigation, spine model bone and cadaver experiments.

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EnPrO: Enhancing Precision Through Optimization in Image-Guided Spine Surgical Procedures

Parthasarathy,

et al. 2024

Lecture Notes in Computer Science

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Distortion correction and calibration of intra-operative spine X-ray images using a constrained DLT algorithm

Cited by 11 publications

References 12 publications

Multimodality calibration for simultaneous fluoroscopic and nuclear imaging

Multimodality calibration for simultaneous fluoroscopic and nuclear imaging

A Robot-Assisted Spine Surgery System Based on Intraoperative 2D Fluoroscopy Navigation

EnPrO: Enhancing Precision Through Optimization in Image-Guided Spine Surgical Procedures

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