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Toward an End-to-End Calibration for Mobile C-Arm in Combination with a Depth Sensor for Surgical Augmented Reality Applications

C-arm X-ray imaging is commonly applied in operating rooms for guiding orthopedic surgeries. Augmented Reality (AR) with C-arm X-ray images during surgery is an efficient way to facilitate procedures for surgeons. However, the accurate calibration process for surgical AR based on C-arm is essential...

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Detalles Bibliográficos
Autores principales: Hosseinian, Sahar, Arefi, Hossein, Navab, Nassir
Formato: Online Artículo Texto
Lenguaje:English
Publicado: MDPI 2019
Materias:
Acceso en línea:https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6982695/
https://www.ncbi.nlm.nih.gov/pubmed/31861606
http://dx.doi.org/10.3390/s20010036
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author Hosseinian, Sahar
Arefi, Hossein
Navab, Nassir
author_facet Hosseinian, Sahar
Arefi, Hossein
Navab, Nassir
author_sort Hosseinian, Sahar
collection PubMed
description C-arm X-ray imaging is commonly applied in operating rooms for guiding orthopedic surgeries. Augmented Reality (AR) with C-arm X-ray images during surgery is an efficient way to facilitate procedures for surgeons. However, the accurate calibration process for surgical AR based on C-arm is essential and still challenging due to the limitations of C-arm imaging systems, such as instability of C-arm calibration parameters and the narrow field of view. We extend existing methods using a depth camera and propose a new calibration procedure consisting of calibration of the C-arm imaging system, and 3D/2D calibration of an RGB-D camera and C-arm system with a new method to achieve reliable data and promising accuracy and, at the same time, consistent with standard surgical protocols. For the calibration procedure, we apply bundle adjustment equations with a 3D designed Lego multi-modal phantom, in contrast to the previous methods in which planar calibration phantoms were applied. By using our method, the visualization of the X-ray image upon the 3D data was done, and the achieved mean overlay error was 1.03 mm. The evaluations showed that the proposed calibration procedure provided promising accuracy for AR surgeries and it improved the flexibility and robustness of existing C-arm calibration methods for surgical augmented reality (using C-arm and RGB-D sensor). Moreover, the results showed the efficiency of our method to compensate for the effects of the C-arm movement on calibration parameters. It was shown that the obtained overlay error was improved for the non-zero rotation movement of C-arm by using a virtual detector.
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spelling pubmed-69826952020-02-28 Toward an End-to-End Calibration for Mobile C-Arm in Combination with a Depth Sensor for Surgical Augmented Reality Applications Hosseinian, Sahar Arefi, Hossein Navab, Nassir Sensors (Basel) Article C-arm X-ray imaging is commonly applied in operating rooms for guiding orthopedic surgeries. Augmented Reality (AR) with C-arm X-ray images during surgery is an efficient way to facilitate procedures for surgeons. However, the accurate calibration process for surgical AR based on C-arm is essential and still challenging due to the limitations of C-arm imaging systems, such as instability of C-arm calibration parameters and the narrow field of view. We extend existing methods using a depth camera and propose a new calibration procedure consisting of calibration of the C-arm imaging system, and 3D/2D calibration of an RGB-D camera and C-arm system with a new method to achieve reliable data and promising accuracy and, at the same time, consistent with standard surgical protocols. For the calibration procedure, we apply bundle adjustment equations with a 3D designed Lego multi-modal phantom, in contrast to the previous methods in which planar calibration phantoms were applied. By using our method, the visualization of the X-ray image upon the 3D data was done, and the achieved mean overlay error was 1.03 mm. The evaluations showed that the proposed calibration procedure provided promising accuracy for AR surgeries and it improved the flexibility and robustness of existing C-arm calibration methods for surgical augmented reality (using C-arm and RGB-D sensor). Moreover, the results showed the efficiency of our method to compensate for the effects of the C-arm movement on calibration parameters. It was shown that the obtained overlay error was improved for the non-zero rotation movement of C-arm by using a virtual detector. MDPI 2019-12-19 /pmc/articles/PMC6982695/ /pubmed/31861606 http://dx.doi.org/10.3390/s20010036 Text en © 2019 by the authors. Licensee MDPI, Basel, Switzerland. This article is an open access article distributed under the terms and conditions of the Creative Commons Attribution (CC BY) license (http://creativecommons.org/licenses/by/4.0/).
spellingShingle Article
Hosseinian, Sahar
Arefi, Hossein
Navab, Nassir
Toward an End-to-End Calibration for Mobile C-Arm in Combination with a Depth Sensor for Surgical Augmented Reality Applications
title Toward an End-to-End Calibration for Mobile C-Arm in Combination with a Depth Sensor for Surgical Augmented Reality Applications
title_full Toward an End-to-End Calibration for Mobile C-Arm in Combination with a Depth Sensor for Surgical Augmented Reality Applications
title_fullStr Toward an End-to-End Calibration for Mobile C-Arm in Combination with a Depth Sensor for Surgical Augmented Reality Applications
title_full_unstemmed Toward an End-to-End Calibration for Mobile C-Arm in Combination with a Depth Sensor for Surgical Augmented Reality Applications
title_short Toward an End-to-End Calibration for Mobile C-Arm in Combination with a Depth Sensor for Surgical Augmented Reality Applications
title_sort toward an end-to-end calibration for mobile c-arm in combination with a depth sensor for surgical augmented reality applications
topic Article
url https://www.ncbi.nlm.nih.gov/pmc/articles/PMC6982695/
https://www.ncbi.nlm.nih.gov/pubmed/31861606
http://dx.doi.org/10.3390/s20010036
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