title: Accuracy evaluation of direct navigation with an isocentric 3D rotational X-ray system.
abstract: Minimally invasive interventions are often performed under fluoroscopic guidance. Drawbacks of fluoroscopic guidance are the fact that the presented images are 2D projections and that both the patient and the clinician are exposed to radiation. Image-guided navigation using pre-interventionally acquired 3D MR or CT data is an alternative. However, this often requires invasive anatomical landmark-based, marker-based or surface-based image-to-patient registration. In this paper, a coupling between an image-guided navigation system and an intraoperative C-arm X-ray device with 3D imaging capabilities (3D rotational X-ray (3DRX) system) that enables direct navigation without invasive image-to-patient registration on 3DRX volumes, is described and evaluated. The coupling is established in a one-time preoperative calibration procedure. The individual steps in the registration procedure are explained and evaluated. The acquired navigation accuracy using this coupling is approximately one millimeter.
authors.affiliation: Image Sciences Institute, University Medical Center Utrecht, Q0S.459, P.O. Box 85500, 3508 GA Utrecht, The Netherlands. everine@isi.uu.nl
authors.forename: Everine B
authors.initials: EB
authors.lastname: van de Kraats
authors.forename: Theo
authors.initials: T
authors.lastname: van      Walsum
authors.forename: Lance
authors.initials: L
authors.lastname: Kendrick
authors.forename: Niels J
authors.initials: NJ
authors.lastname: Noordhoek
authors.forename: Wiro J
authors.initials: WJ
authors.lastname: Niessen
mesh_terms: D000465:Algorithms; D004867:Equipment Design; D019544:Equipment Failure Analysis; D021621:Imaging, Three-Dimensional / Q000379:methods*; D019060:Minimally Invasive Surgical Procedures / Q000295:instrumentation / Q000379:methods; D011856:Radiographic Image Enhancement / Q000379:methods; D011857:Radiographic Image Interpretation, Computer-Assisted / Q000379:methods*; D015203:Reproducibility of Results; D012399:Rotation; D012680:Sensitivity and Specificity; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D014057:Tomography, X-Ray Computed / Q000295:instrumentation* / Q000379:methods