danny ruijters 17 april 2008 2d-3d intra-interventional registration of coronary arteries
TRANSCRIPT
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Danny Ruijters17 April 2008
2D-3D intra-interventional 2D-3D intra-interventional registration of coronary arteriesregistration of coronary arteries
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22D-3D intra-interventional registration of coronary arteries
Outline
• Introduction
• 2D-3D Registration
• Results
• Measurements
• Future work
• Conclusions
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32D-3D intra-interventional registration of coronary arteries
Introduction
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42D-3D intra-interventional registration of coronary arteries
What is Coronary Artery Disease?
• Coronary Artery Disease (CAD) is a condition in which plaque builds up inside the coronary arteries. These arteries supply the heart muscle with oxygen-rich blood.
• Plaque is made up of fat, cholesterol, calcium, and other substances found in the blood. When plaque builds up in the arteries, the condition is called atherosclerosis.
Source: National Heart Lung and Blood Institute, www.nhlbi.nih.gov
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52D-3D intra-interventional registration of coronary arteries
Diagnosis / treatment planning: Cardiac CT
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62D-3D intra-interventional registration of coronary arteries
Treatment guidance: X-ray angiography
Z
Y
X
Angulation
Rotation
L-arm
Cathlab = Catherization Laboratory
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72D-3D intra-interventional registration of coronary arteries
Cardiac CT & X-ray
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82D-3D intra-interventional registration of coronary arteries
Coronary centerlines
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92D-3D intra-interventional registration of coronary arteries
2D-3D Registration
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102D-3D intra-interventional registration of coronary arteries
2D-3D Vessel Registration
• Intensity-based methods - landmarks too small
• Iterative Closest Point - segmentation not robust
• Conclusion: new method needed
DRR X-ray
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112D-3D intra-interventional registration of coronary arteries
Vesselness Filter
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122D-3D intra-interventional registration of coronary arteries
Vesselness Filter
Frangi et al.: Multiscale vessel enhancement filtering. MICCAI'98, 130-137
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132D-3D intra-interventional registration of coronary arteries
Projection of the coronary centerlines
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142D-3D intra-interventional registration of coronary arteries
Distance Transform
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152D-3D intra-interventional registration of coronary arteries
Similarity Measure
*
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162D-3D intra-interventional registration of coronary arteries
Stochastic optimizationGeneration
0
1
2
n best results produce m children
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172D-3D intra-interventional registration of coronary arteries
Results
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182D-3D intra-interventional registration of coronary arteries
Registration
Stochastic Optimizer
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192D-3D intra-interventional registration of coronary arteries
Registration
Powell Optimizer
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202D-3D intra-interventional registration of coronary arteries
Overlay visualization
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212D-3D intra-interventional registration of coronary arteries
Measurements
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222D-3D intra-interventional registration of coronary arteries
Measuring accuracy and capture range?
• Ground truth needed!!! → not possible for real world data.
• The perfect registration does not exist:
– Cardiac motion
– Respiratory motion
– Patient pose
• Solution: use simulated data.
• Solution: use real world data, measure capture range by measuring translation and rotation of a successful registration.
• Objectivity, relevance to the clinical practice.
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232D-3D intra-interventional registration of coronary arteries
Maximum capture range, using clinical data
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242D-3D intra-interventional registration of coronary arteries
Simulate X-Ray, using cardiac CT
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252D-3D intra-interventional registration of coronary arteries
Segmented CT
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262D-3D intra-interventional registration of coronary arteries
Segmented forward projection
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272D-3D intra-interventional registration of coronary arteries
Segmented forward projection
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282D-3D intra-interventional registration of coronary arteries
Residual Error, using simulated data
Same set of initial transformations (translation and rotation) was used for all methods.
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292D-3D intra-interventional registration of coronary arteries
Future work
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302D-3D intra-interventional registration of coronary arteries
Improving the similarity measure
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312D-3D intra-interventional registration of coronary arteries
Tangent: Eigen vectors of the Hessian
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322D-3D intra-interventional registration of coronary arteries
Multi-scale approach
• Start with coarse scales, and refine
• Gaussian blur the 2D image / vesselness image
• Use wider distance transform by increasing constant c
• 2nd order derivative → Quasi-Newton optimization
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332D-3D intra-interventional registration of coronary arteries
Conclusions
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342D-3D intra-interventional registration of coronary arteries
Conclusions
• Clinical prototype installed in hospitals New York and Denver
• Very robust: accurate & large capture range
• Relatively fast: Powell 2.7 seconds, stochastic 11 seconds
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Thank you!!!