Coronary Motion Modelling for Augmented Reality Guidance of Endoscopic Coronary Artery Bypass

The overall aim of our project is to guide totally endoscopic coronary artery bypass. This requires construction of a 4D preoperative model of the coronary arteries and myocardium. The model must be aligned with the endoscopic view of the patient's beating heart and presented to the surgeon using augmented reality. We propose that the model can be constructed from coronary CT. Segmentation can be performed for one phase of the cardiac cycle only and propagated to the others using non-rigid registration. We have compared the location of the coronaries produced by this method to hand segmentation. Registration of the model to the endoscopic view of the patient is achieved in two phases. Temporal registration is performed by identification of corresponding motion between model and video. Then we calculate photo-consistency between the two da Vinci endoscope views and average over the frames of the motion model. This has been shown to improve the shape of the cost function. Phantom results are presented. The model can then be transformed to the calibrated endoscope view and overlaid using two video mixers.

[1]  Guang-Zhong Yang,et al.  Soft-Tissue Motion Tracking and Structure Estimation for Robotic Assisted MIS Procedures , 2005, MICCAI.

[2]  Daniel Rueckert,et al.  Segmentation of cardiac MR and CT image sequences using model-based registration of a 4D statistical model , 2007, SPIE Medical Imaging.

[3]  David J. Hawkes,et al.  Alignment of sparse freehand 3-D ultrasound with preoperative images of the liver using models of respiratory motion and deformation , 2005, IEEE Transactions on Medical Imaging.

[4]  Jean-Yves Bouguet,et al.  Camera calibration toolbox for matlab , 2001 .

[5]  Guido Gerig,et al.  Medical Image Computing and Computer-Assisted Intervention - MICCAI 2005, 8th International Conference, Palm Springs, CA, USA, October 26-29, 2005, Proceedings, Part II , 2005, MICCAI.

[6]  T. Aybek,et al.  Totally endoscopic coronary artery bypass grafting on cardiopulmonary bypass with robotically enhanced telemanipulation: report of forty-five cases. , 2002, The Journal of thoracic and cardiovascular surgery.

[7]  Terry M. Peters,et al.  Real-time fusion of endoscopic views with dynamic 3-D cardiac images: a phantom study , 2005, IEEE Transactions on Medical Imaging.

[8]  S. Nitzsche,et al.  Cardio navigation: planning, simulation, and augmented reality in robotic assisted endoscopic bypass grafting. , 2005, The Annals of thoracic surgery.

[9]  Daniel Rueckert,et al.  Nonrigid Image Registration with Subdivision Lattices: Application to Cardiac MR Image Analysis , 2007, MICCAI.

[10]  Terry M. Peters,et al.  Validation of dynamic heart models obtained using non-linear registration for virtual reality training, planning, and guidance of minimally invasive cardiac surgeries , 2004, Medical Image Anal..

[11]  Daniel Rueckert,et al.  Using Photo-Consistency to Register 2D Optical Images of the Human Face to a 3D Surface Model , 2001, IEEE Trans. Pattern Anal. Mach. Intell..

[12]  Daniel Rueckert,et al.  Nonrigid registration using free-form deformations: application to breast MR images , 1999, IEEE Transactions on Medical Imaging.

[13]  Computer-Assisted Intervention,et al.  Medical Image Computing and Computer-Assisted Intervention – MICCAI’99 , 1999, Lecture Notes in Computer Science.

[14]  David Atkinson,et al.  A study of the motion and deformation of the heart due to respiration , 2002, IEEE Transactions on Medical Imaging.

[15]  F. Mohr,et al.  Total endoscopic computer enhanced coronary artery bypass grafting. , 2000, European journal of cardio-thoracic surgery : official journal of the European Association for Cardio-thoracic Surgery.