International journal of computer assisted radiology and surgery · 2025
Semi-automatic segmentation of elongated interventional instruments for online calibration of C-arm imaging system.
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Chabi Negar, Illanes Alfredo, Beuing Oliver, Behme Daniel, Preim Bernhard, Saalfeld Sylvia
Аннотация
PURPOSE: The C-arm biplane imaging system, designed for cerebral angiography, detects pathologies like aneurysms using dual rotating detectors for high-precision, real-time vascular imaging. However, accuracy can be affected by source-detector trajectory deviations caused by gravitational artifacts and mechanical instabilities. This study addresses calibration challenges and suggests leveraging interventional devices with radio-opaque markers to optimize C-arm geometry.
METHODS: We propose an online calibration method using image-specific features derived from interventional devices like guidewires and catheters (In the remainder of this paper, the term"catheter" will refer to both catheter and guidewire). The process begins with gantry-recorded data, refined through iterative nonlinear optimization. A machine learning approach detects and segments elongated devices by identifying candidates via thresholding on a weighted sum of curvature, derivative, and high-frequency indicators. An ensemble classifier segments these regions, followed by post-processing to remove false positives, integrating vessel maps, manual correction and identification markers. An interpolation step filling gaps along the catheter.
RESULTS: Among the optimized ensemble classifiers, the one trained on the first frames achieved the best performance, with a specificity of 99.43% and precision of 86.41%. The calibration method was evaluated on three clinical datasets and four phantom angiogram pairs, reducing the mean backprojection error from 4.11 ± 2.61 to 0.15 ± 0.01 mm. Additionally, 3D accuracy analysis showed an average root mean square error of 3.47% relative to the true marker distance.
CONCLUSIONS: This study explores using interventional tools with radio-opaque markers for C-arm self-calibration. The proposed method significantly reduces 2D backprojection error and 3D RMSE, enabling accurate 3D vascular reconstruction.
METHODS: We propose an online calibration method using image-specific features derived from interventional devices like guidewires and catheters (In the remainder of this paper, the term"catheter" will refer to both catheter and guidewire). The process begins with gantry-recorded data, refined through iterative nonlinear optimization. A machine learning approach detects and segments elongated devices by identifying candidates via thresholding on a weighted sum of curvature, derivative, and high-frequency indicators. An ensemble classifier segments these regions, followed by post-processing to remove false positives, integrating vessel maps, manual correction and identification markers. An interpolation step filling gaps along the catheter.
RESULTS: Among the optimized ensemble classifiers, the one trained on the first frames achieved the best performance, with a specificity of 99.43% and precision of 86.41%. The calibration method was evaluated on three clinical datasets and four phantom angiogram pairs, reducing the mean backprojection error from 4.11 ± 2.61 to 0.15 ± 0.01 mm. Additionally, 3D accuracy analysis showed an average root mean square error of 3.47% relative to the true marker distance.
CONCLUSIONS: This study explores using interventional tools with radio-opaque markers for C-arm self-calibration. The proposed method significantly reduces 2D backprojection error and 3D RMSE, enabling accurate 3D vascular reconstruction.