Mr. Uroš Mitrovic Profile

Uroš Mitrovic

PhD Student

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Proceedings Article | 13 March 2013 Paper

Evaluation of 3D-2D registration methods for registration of 3D-DSA and 2D-DSA cerebral images

Uroš Mitrović, Žiga Špiclin, Boštjan Likar, Franjo Pernuš

Proceedings Volume 8669, 866931 (2013) https://doi.org/10.1117/12.2007009

KEYWORDS: Image registration, 3D image processing, Gold, Imaging systems, Calibration, 3D imaging standards, 3D acquisition, Angiography, Pathology, Sensors

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Recent C-arm systems used for endovascular image-guided interventions enable the acquisition of three-dimensional (3D) and dynamic two-dimensional (2D+t) images in the same interventional suite. The 3D images are used to observe the vascular morphology while the 2D+t images show the current state of the intervention. By spatial alignment of 3D and 2D+t images one can facilitate the endovascular interventions, e.g. by displaying the intra-interventional tools and contrast-agent flow in the augmented 3D+t images. To achieve the spatial alignment several 3D-2D registration methods were proposed that are concerned with finding the rigid-body parameters of the 3D image. Meanwhile, the pose of the C-arm system is usually obtained through a dedicated C-arm calibration. In practice, the calibrated C-arm pose parameters are typically valid only if the imaged object is positioned in the C-arm’s isocenter. To compensate this, the 3D-2D registration should search simultaneously for the rigid-body as well as the C-arm pose parameters. For verification, we tested three 3D-2D registration methods on real, clinical 3D and 2D+t angiographic images of twenty patients, ten of which were imaged with attached fiducial markers to obtain a “gold standard” registration. The results indicate that, compared to searching solely the rigid-body parameters, by searching simultaneously for rigid-body and the C-arm pose parameters significantly improves the accuracy and success rate of 3D-2D registration methods. Among the three tested methods the intensity-based method using mutual information was the most robust, as it successfully registered all clinical datasets, and highly accurate, as the maximal fiducial registration error was less or equal than 0.34 mm.

Proceedings Article | 14 February 2012 Paper

3D-2D registration of cerebral angiograms based on vessel directions and intensity gradients

Uroš Mitrovic, Žiga Špiclin, Darko Štern, Primož Markelj, Boštjan Likar, Zoran Miloševic, Franjo Pernuš

Proceedings Volume 8314, 83141T (2012) https://doi.org/10.1117/12.910904

KEYWORDS: Image registration, 3D image processing, Gold, 3D imaging standards, Phase modulation, Angiography, Databases, Chromium, Navigation systems, Pathology

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Endovascular treatment of cerebral aneurysms and arteriovenous malformations (AVM) involves navigation of a catheter through the femoral artery and vascular system to the site of pathology. Intra-interventional navigation is done under the guidance of one or at most two two-dimensional (2D) X-ray fluoroscopic images or 2D digital subtracted angiograms (DSA). Due to the projective nature of 2D images, the interventionist needs to mentally reconstruct the position of the catheter in respect to the three-dimensional (3D) patient vasculature, which is not a trivial task. By 3D-2D registration of pre-interventional 3D images like CTA, MRA or 3D-DSA and intra-interventional 2D images, intra-interventional tools such as catheters can be visualized on the 3D model of patient vasculature, allowing easier and faster navigation. Such a navigation may consequently lead to the reduction of total ionizing dose and delivered contrast medium. In the past, development and evaluation of 3D-2D registration methods for endovascular treatments received considerable attention. The main drawback of these methods is that they have to be initialized rather close to the correct position as they mostly have a rather small capture range. In this paper, a novel registration method that has a higher capture range and success rate is proposed. The proposed method and a state-of-the-art method were tested and evaluated on synthetic and clinical 3D-2D image-pairs. The results on both databases indicate that although the proposed method was slightly less accurate, it significantly outperformed the state-of-the-art 3D-2D registration method in terms of robustness measured by capture range and success rate.

Proceedings Article | 12 March 2011 Paper

Gradient-based 3D-2D registration of cerebral angiograms

Uroš Mitrović, Primož Markelj, Boštjan Likar, Zoran Miloševič, Franjo Pernuš

Proceedings Volume 7962, 79621P (2011) https://doi.org/10.1117/12.877541

KEYWORDS: Image registration, 3D image processing, Angiography, Gold, 3D image reconstruction, Image segmentation, X-rays, Calibration, X-ray imaging, Navigation systems

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Endovascular treatment of cerebral aneurysms and arteriovenous malformations (AVM) involves navigation of a catheter through the femoral artery and vascular system into the brain and into the aneurysm or AVM. Intra-interventional navigation utilizes digital subtraction angiography (DSA) to visualize vascular structures and X-ray fluoroscopy to localize the endovascular components. Due to the two-dimensional (2D) nature of the intra-interventional images, navigation through a complex three-dimensional (3D) structure is a demanding task. Registration of pre-interventional MRA, CTA, or 3D-DSA images and intra-interventional 2D DSA images can greatly enhance visualization and navigation. As a consequence of better navigation in 3D, the amount of required contrast medium and absorbed dose could be significantly reduced. In the past, development and evaluation of 3D-2D registration methods received considerable attention. Several validation image databases and evaluation criteria were created and made publicly available in the past. However, applications of 3D-2D registration methods to cerebral angiograms and their validation are rather scarce. In this paper, the 3D-2D robust gradient reconstruction-based (RGRB) registration algorithm is applied to CTA and DSA images and analyzed. For the evaluation purposes five image datasets, each comprised of a 3D CTA and several 2D DSA-like digitally reconstructed radiographs (DRRs) generated from the CTA, with accurate gold standard registrations were created. A total of 4000 registrations on these five datasets resulted in mean mTRE values between 0.07 and 0.59 mm, capture ranges between 6 and 11 mm and success rates between 61 and 88% using a failure threshold of 2 mm.

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