Fast marker based C-Arm pose estimation.
To estimate the pose of a C-Arm during interventions therapy we have developed a small sized X-Ray Target including a special set of beads with known locations in 3D space. Since the patient needs to remain in the X-Ray path for all feasible poses of the C-Arm during the intervention, we cannot construct a single marker which is entirely visible in all images. Therefore finding 2D-3D point correspondences is a non-trivial task. The marker pattern has to be chosen in a way such that its projection onto the image plane is unique in a minimal-sized window for all relevant poses of the C-Arm. We use a two dimensional adaption of a linear feedback shift register (LFSR) to generate a two-dimensional pattern with unique sub-patterns in a certain window range. Thereby uniqueness is not achieved by placing unique 2D sub patterns side by side but by the code property itself. The code is designed in a way that any sub window of a minimal size guarantees uniqueness and that even occlusions from medical instruments can be handled. Experiments showed that we were able to estimate the C-Arm's pose from a single image within one second with a precision below one millimeter and one degree.
Kainz
Bernhard
B
Institute for Computer Graphics and Vision, Graz University of Technology, Austria. kainz@icg.tugraz.at
Grabner
Markus
M
Rüther
Matthias
M
D000465:Algorithms; D006801:Humans; D011856:Radiographic Image Enhancement / Q000379:methods*; D011857:Radiographic Image Interpretation, Computer-Assisted / Q000379:methods*; D015641:Radiography, Interventional / Q000295:instrumentation* / Q000379:methods*; D015203:Reproducibility of Results; D012680:Sensitivity and Specificity; D014057:Tomography, X-Ray Computed / Q000295:instrumentation* / Q000379:methods*