F. Bender, M. Groher, A. Khamene, W. Wein, H. Heibel, N. Navab 3D Dynamic Roadmapping for Abdominal Catheterizations Medical Image Computing and Computer-Assisted Intervention, MICCAI, 2008, New York, USA, September 6-10 2008 (bib)
	Despite rapid advances in interventional imaging, the navigation of a guide wire through abdominal vasculature remains, not only for novice radiologists, a difficult task. Since this navigation is mostly based on 2D fluoroscopic image sequences from one view, the process is slowed down significantly due to missing depth information and patient motion. We propose a novel approach for 3D dynamic roadmapping in deformable regions by predicting the location of the guide wire tip in a 3D vessel model from the tip's 2D location, respiratory motion analysis, and view geometry. In a first step, the method compensates for the apparent respiratory motion in 2D space before backprojecting the 2D guide wire tip into three dimensional space, using a given projection matrix. To countervail the error connected to the projection parameters and the motion compensation, as well as the ambiguity caused by vessel deformation, we establish a statistical framework, which computes a reliable estimate of the guide wire tip location within the 3D vessel model. With this 2D-to-3D transfer, the navigation can be performed from arbitrary viewing angles, disconnected from the static perspective view of the fluoroscopic sequence. Tests on a realistic breathing phantom and on synthetic data with a known ground truth clearly reveal the superiority of our approach compared to naive methods for 3D roadmapping.
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