Photo-consistency registration of a 4D cardiac motion model to endoscopic video for image guidance of robotic coronary artery bypass

Michael Figl; Daniel Rueckert; Eddie Edwards

doi:10.1117/12.813905

13 March 2009 Photo-consistency registration of a 4D cardiac motion model to endoscopic video for image guidance of robotic coronary artery bypass

Michael Figl, Daniel Rueckert, Eddie Edwards

Author Affiliations +

Proceedings Volume 7261, Medical Imaging 2009: Visualization, Image-Guided Procedures, and Modeling; 72611X (2009) https://doi.org/10.1117/12.813905
Event: SPIE Medical Imaging, 2009, Lake Buena Vista (Orlando Area), Florida, United States

Abstract

The aim of the work described in this paper is registration of a 4D preoperative motion model of the heart to the video view of the patient through the intraoperative endoscope. The heart motion is cyclical and can be modelled using multiple reconstructions of cardiac gated coronary CT. We propose the use of photoconsistency between the two views through the da Vinci endoscope to align to the preoperative heart surface model from CT. The temporal alignment from the video to the CT model could in principle be obtained from the ECG signal. We propose averaging of the photoconsistency over the cardiac cycle to improve the registration compared to a single view. Though there is considerable motion of the heart, after correct temporal alignment we suggest that the remaining motion should be close to rigid. Results are presented for simulated renderings and for real video of a beating heart phantom. We found much smoother sections at the minimum when using multiple phases for the registration, furthermore convergence was found to be better when more phases are used.

Citation Download Citation

Michael Figl, Daniel Rueckert, and Eddie Edwards "Photo-consistency registration of a 4D cardiac motion model to endoscopic video for image guidance of robotic coronary artery bypass", Proc. SPIE 7261, Medical Imaging 2009: Visualization, Image-Guided Procedures, and Modeling, 72611X (13 March 2009); https://doi.org/10.1117/12.813905

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