Merging visible and invisible: two Camera-Augmented Mobile C-arm (CAMC) applications

Navab, Nassir; Bani-Kashemi, A.; Mitschke, Matthias

doi:10.1109/iwar.1999.803814

Cited by 52 publications

(45 citation statements)

References 2 publications

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“…A planar homography then is estimated for X-ray and video image overlay. This calibration enables that the X-ray source and the video camera have the same intrinsic and extrinsic parameters [1]. Therefore, all the poses and motions estimated using the video camera directly correspond to that of the X-ray projection geometry.…”

Section: Methodsmentioning

confidence: 99%

“…However, any structure that is not within this stitching plane in 3D space will get ghosting or blurring effects (see figure 1(a)) also refered to as parallax. H has two parts, KRK −1 and 1 d Ktn T K −1 , in which the second part relies on the plane parameters n and d. In case that the camera motion only contains the rotation R, 1 d Ktn T K −1 is equal to zero. Then H is independent from the plane parameters, and thus it is valid for all image points without the coplanar constraint on their corresponding space points.…”

Section: Methodsmentioning

confidence: 99%

“…This is achieved by moving the table to compensate for the translational part of the motion based on C-arm pose estimation, for which we employed a Camera Augmented Mobile C-arm (CamC) system and a visual planar marker pattern. This CamC system that extends a standard mobile C-arm by a video camera and mirror construction was first proposed for X-ray and video image overlay [1]. Finally, we are able to generate a true parallax-free panoramic Xray image, independent of the configuration of bone structures and without the requirement of a fronto-parallel setup or overlapping X-ray regions.…”

Section: Introduction and Related Workmentioning

confidence: 98%

See 2 more Smart Citations

Parallax-Free Long Bone X-ray Image Stitching

Wang¹,

Traub²,

Weidert

et al. 2009

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2009

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Abstract. In this paper, we present a novel method to create parallaxfree panoramic X-ray images of long bones during surgery by making the C-arm rotate around its X-ray source, relative to the patient's table. In order to ensure that the C-arm motion is a relative pure rotation around its X-ray source, we move the table to compensate for the translational part of the motion based on C-arm pose estimation, for which we employed a Camera Augmented Mobile C-arm system [1] and a visual planar marker pattern. Thus, we are able to produce a parallax-free panoramic X-ray image that preserves the property of linear perspective projection. We additionally implement a method to reduce the error caused by varying intrinsic parameters of C-arm X-ray imaging. The results show that our proposed method can generate a parallax-free panoramic X-ray image, independent of the configuration of bone structures and without the requirement of a fronto-parallel setup or any overlap in the X-ray images. The resulting panoramic images have a negligible difference (below 2 pixels) in the overlap between two consecutive individual X-ray images and have a high visual quality, which promises suitability for intra-operative clinical applications in orthopedic and trauma surgery.

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Section: Methodsmentioning

confidence: 99%

Section: Methodsmentioning

confidence: 99%

Section: Introduction and Related Workmentioning

confidence: 98%

See 1 more Smart Citation

Parallax-Free Long Bone X-ray Image Stitching

Wang¹,

Traub²,

Weidert

et al. 2009

Medical Image Computing and Computer-Assisted Intervention – MICCAI 2009

View full text Add to dashboard Cite

show abstract

“…The CamC system that extends a regular mobile C-arm by a video camera [1] was proposed for X-ray and video image overlay. By construction and one time calibration of the device, the X-ray system and the camera have the same projection geometry.…”

Section: Introductionmentioning

confidence: 99%

“…In this paper, we propose a novel method to generate panoramic X-ray images intra-operatively by using the previously introduced camera augmented mobile C-arm by Navab et al [1]. This advanced mobile C-arm system acquires registered X-ray and optical images by construction, which facilitates the generation of panoramic X-ray images based on the motion estimation of the X-ray source.…”

mentioning

confidence: 99%

Long Bone X-ray Image Stitching Using C-arm Motion Estimation

Wang¹,

Traub²,

Heining

et al. 2009

Bildverarbeitung Für Die Medizin 2009

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Abstract. In this paper, we propose a novel method to generate panoramic X-ray images intra-operatively by using the previously introduced camera augmented mobile C-arm by Navab et al. [1]. This advanced mobile C-arm system acquires registered X-ray and optical images by construction, which facilitates the generation of panoramic X-ray images based on the motion estimation of the X-ray source. Visual marker tracking is employed to estimate the camera motion and this estimated motion is also applied to the X-ray source. Our proposed method is suitable and practical for intra-operative usage generating panoramic X-ray images without the requirement of a fronto-parallel setup and overlapping X-ray images. The results show that the panoramic X-ray images generated by our method are accurate enough (errors less than 1%) for metric measurements and promise suitability for intra-operative clinical applications in trauma surgery.

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