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Vessel-based registration of an optical shape sensing catheter for MR navigation

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

Magnetic resonance navigation (MRN), achieved with an upgraded MRI scanner, aims to guide therapeutic nanoparticles from their release in the hepatic vascular network to embolize highly vascularized liver tumors. Visualizing the catheter in real-time within the arterial network is important for selective embolization within the MR gantry. To achieve this, a new MR-compatible catheter tracking technology based on optical shape sensing is used.

Methods

This paper proposes a vessel-based registration pipeline to co-align this novel catheter tracking technology to the patient’s diagnostic MR angiography (MRA) with 3D roadmapping. The method first extracts the 3D hepatic arteries from a diagnostic MRA based on concurrent deformable models, creating a detailed representation of the patient’s internal anatomy. Once the optical shape sensing fibers, inserted in a double-lumen catheter, is guided into the hepatic arteries, the 3D centerline of the catheter is inferred and updated in real-time using strain measurements derived from fiber Bragg gratings sensors. Using both centerlines, a diffeomorphic registration based on a spectral representation of the high-level geometrical primitives is applied.

Results

Results show promise in registration accuracy in five phantom models created from stereolithography of patient-specific vascular anatomies, with maximum target registration errors below 2 mm. Furthermore, registration accuracy with the shape sensing tracking technology remains insensitive to the magnetic field of the MR magnet.

Conclusions

This study demonstrates that an accurate registration procedure of a shape sensing catheter with diagnostic imaging is feasible.

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Acknowledgments

This study was funded by the Canada Research Chairs (950-228359), the Canadian Institutes of Health Research (CIHR) (MOP142401) and the Fonds de Recherche du Quebec en Science et Technologies (FRQNT) scholarship program (142873).

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Authors and Affiliations

  1. Department Computer and Software Engineering, Ecole Polytechnique de Montréal, Montréal, QC, Canada

    Koushik Mandal, Sylvain Martel & Samuel Kadoury

  2. Department Physics Engineering, Ecole Polytechnique de Montreal, Montréal, QC, Canada

    Francois Parent & Raman Kashyap

  3. Centre Hospitalier de l’Université de Montréal Research Center, Montréal, QC, Canada

    Samuel Kadoury

Authors
  1. Koushik Mandal
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  2. Francois Parent
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  3. Sylvain Martel
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  4. Raman Kashyap
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  5. Samuel Kadoury
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Corresponding author

Correspondence to Samuel Kadoury.

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The authors declare that they have no conflict of interests.

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All procedures performed in studies involving human participants were in accordance with the ethical standards of the institutional and/or national research committee and with the 1964 Helsinki Declaration and its later amendments or comparable ethical standards.

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For this type of study formal consent was not required.

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Mandal, K., Parent, F., Martel, S. et al. Vessel-based registration of an optical shape sensing catheter for MR navigation. Int J CARS 11, 1025–1034 (2016). https://doi.org/10.1007/s11548-016-1366-7

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  • DOI: https://doi.org/10.1007/s11548-016-1366-7

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