Surgical Planning using 2D/3D Registration with H/W Rendering

초록

In this paper, the method which makes pre-operative 3D data and surgical planning information useable at intra-operative time is introduced. This method presents a surgical planning with 2D/3D registration method using bi-planar fluoroscopy imaging device and has a fast computation method of DRRs using hardware rendering, texture mapping. In preoperative time, surgeons can plan about their operation with 3D CT data. And in intra-operative time, through 2D/3D registration the preplanned data can be useable with respect to the real-time fluoroscopic images. For 2D/3D registration, two-DRRs are computed simultaneously, and compared to intra-operative images with intensity information sequentially. After then, the position and orientation of 3D volume in the simulated 2D intra-operative imaging device environment could be found. Through these procedures, we could obtain the data about spatial relationship between 3D pre-operative volume data and 2D intra-operative images. After 2D/3D registration, using the transformation matrix which is obtained by registration, the preplanned surgical paths are projected on the intra-operative fluoroscopic image. So, surgeons can get surgical planning data without surgical planning in intra-operative time. The computation of DRR takes sub second, and the whole procedures for 2D/3D registration take one or two minutes as ROI size, which are far faster than any other methods. Moreover, the image quality of DRRs is improved compare to other methods which are based on software method. To evaluate the result of surgical planning with 2D/3D registration, precise phantom is applied. More accurate studies to find position and orientation of 3D volume in simulated intra-operative imaging device and to obtain surgical planning information with 2D/3D registration are remained for future work.