4D motion modeling of the coronary arteries from CT images for robotic assisted minimally invasive surgery

Dong Ping Zhang; Eddie Edwards; Lin Mei; Daniel Rueckert

doi:10.1117/12.811518

27 March 2009 4D motion modeling of the coronary arteries from CT images for robotic assisted minimally invasive surgery

Dong Ping Zhang, Eddie Edwards, Lin Mei, Daniel Rueckert

Author Affiliations +

Proceedings Volume 7259, Medical Imaging 2009: Image Processing; 72590X (2009) https://doi.org/10.1117/12.811518
Event: SPIE Medical Imaging, 2009, Lake Buena Vista (Orlando Area), Florida, United States

Abstract

In this paper, we present a novel approach for coronary artery motion modeling from cardiac Computed Tomography( CT) images. The aim of this work is to develop a 4D motion model of the coronaries for image guidance in robotic-assisted totally endoscopic coronary artery bypass (TECAB) surgery. To utilize the pre-operative cardiac images to guide the minimally invasive surgery, it is essential to have a 4D cardiac motion model to be registered with the stereo endoscopic images acquired intraoperatively using the da Vinci robotic system. In this paper, we are investigating the extraction of the coronary arteries and the modelling of their motion from a dynamic sequence of cardiac CT. We use a multi-scale vesselness filter to enhance vessels in the cardiac CT images. The centerlines of the arteries are extracted using a ridge traversal algorithm. Using this method the coronaries can be extracted in near real-time as only local information is used in vessel tracking. To compute the deformation of the coronaries due to cardiac motion, the motion is extracted from a dynamic sequence of cardiac CT. Each timeframe in this sequence is registered to the end-diastole timeframe of the sequence using a non-rigid registration algorithm based on free-form deformations. Once the images have been registered a dynamic motion model of the coronaries can be obtained by applying the computed free-form deformations to the extracted coronary arteries. To validate the accuracy of the motion model we compare the actual position of the coronaries in each time frame with the predicted position of the coronaries as estimated from the non-rigid registration. We expect that this motion model of coronaries can facilitate the planning of TECAB surgery, and through the registration with real-time endoscopic video images it can reduce the conversion rate from TECAB to conventional procedures.

Citation Download Citation

Dong Ping Zhang, Eddie Edwards, Lin Mei, and Daniel Rueckert "4D motion modeling of the coronary arteries from CT images for robotic assisted minimally invasive surgery", Proc. SPIE 7259, Medical Imaging 2009: Image Processing, 72590X (27 March 2009); https://doi.org/10.1117/12.811518

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