Vessel-based CTA-image to spatial anatomy registration using tracked catheter position data: preclinical evaluation of in vivo accuracy.
Aortic aneurysm (abdominal)
Computed tomography angiography
Endovascular procedures
Radiation exposure
Surgical navigation systems
Journal
European radiology experimental
ISSN: 2509-9280
Titre abrégé: Eur Radiol Exp
Pays: England
ID NLM: 101721752
Informations de publication
Date de publication:
28 Aug 2024
28 Aug 2024
Historique:
received:
13
03
2024
accepted:
02
08
2024
medline:
28
8
2024
pubmed:
28
8
2024
entrez:
28
8
2024
Statut:
epublish
Résumé
Electromagnetic tracking of endovascular instruments has the potential to substantially decrease radiation exposure of patients and personnel. In this study, we evaluated the in vivo accuracy of a vessel-based method to register preoperative computed tomography angiography (CTA) images to physical coordinates using an electromagnetically tracked guidewire. Centerlines of the aortoiliac arteries were extracted from preoperative CTA acquired from five swine. Intravascular positions were obtained from an electromagnetically tracked guidewire. An iterative-closest-point algorithm registered the position data to the preoperative image centerlines. To evaluate the registration accuracy, a guidewire was placed inside the superior mesenteric, left and right renal arteries under fluoroscopic guidance. Position data was acquired with electromagnetic tracking as the guidewire was pulled into the aorta. The resulting measured positions were compared to the corresponding ostia manually identified in the CTA images after applying the registration. The three-dimensional (3D) Euclidean distances were calculated between each corresponding ostial point, and the root mean square (RMS) was calculated for each registration. The median 3D RMS for all registrations was 4.82 mm, with an interquartile range of 3.53-6.14 mm. A vessel-based registration of CTA images to vascular anatomy is possible with acceptable accuracy and encourages further clinical testing. RELEVANCE STATEMENT: This study shows that the centerline algorithm can be used to register preoperative CTA images to vascular anatomy, with the potential to further reduce ionizing radiation exposure during vascular procedures. KEY POINTS: Preoperative images can be used to guide the procedure without ionizing intraoperative imaging. Preoperative imaging can be the only imaging modality used for guidance of vascular procedures. No need to use external fiducial markers to register/match images and spatial anatomy. Acceptable accuracy can be achieved for navigation in a preclinical setting.
Identifiants
pubmed: 39196294
doi: 10.1186/s41747-024-00499-1
pii: 10.1186/s41747-024-00499-1
doi:
Types de publication
Journal Article
Langues
eng
Sous-ensembles de citation
IM
Pagination
99Informations de copyright
© 2024. The Author(s).
Références
Hertault A, Maurel B, Midulla M et al (2015) Editor’s Choice—Minimizing radiation exposure during endovascular procedures: basic knowledge, literature review, and reporting standards. Eur J Vasc Endovasc Surg 50:21–36. https://doi.org/10.1016/j.ejvs.2015.01.014
doi: 10.1016/j.ejvs.2015.01.014
pubmed: 25818982
Kagadis GC, Katsanos K, Karnabatidis D, Loudos G, Nikiforidis GC, Hendee WR (2012) Emerging technologies for image guidance and device navigation in interventional radiology. Med Phys 39:5768–5781. https://doi.org/10.1118/1.4747343
doi: 10.1118/1.4747343
pubmed: 22957641
Goudeketting SR, Heinen SGH, Ünlü Ç et al (2017) Pros and cons of 3D image fusion in endovascular aortic repair: a systematic review and meta-analysis. J Endovasc Ther 4:595–603. https://doi.org/10.1177/1526602817708196
doi: 10.1177/1526602817708196
Arun KS, Huang TS, Blostein SD (1987) Least-squares fitting of two 3-D point sets. IEEE Trans Pattern Anal Mach Intell 9:698–700. https://doi.org/10.1109/tpami.1987.4767965
doi: 10.1109/tpami.1987.4767965
pubmed: 21869429
Doelare SAN, Smorenburg SPM, van Schaik TG et al (2021) Image fusion during standard and complex endovascular aortic repair, to fuse or not to fuse? A meta-analysis and additional data from a single-center retrospective cohort. J Endovasc Ther 28:78–92. https://doi.org/10.1177/1526602820960444
doi: 10.1177/1526602820960444
pubmed: 32964768
Wallace MJ, Kuo MD, Glaiberman C, Binkert CA, Orth RC, Soules G (2009) Three-dimensional C-arm cone-beam CT: applications in the interventional suite. J Vasc Interv Radiol 20:S523–S537. https://doi.org/10.1016/j.jvir.2009.04.059
doi: 10.1016/j.jvir.2009.04.059
pubmed: 19560037
Sailer AM, de Haan MW, Peppelenbosch AG, Jacobs MJ, Wildberger JE, Schurink GWH (2014) CTA with fluoroscopy image fusion guidance in endovascular complex aortic aneurysm repair. Eur J Vasc Endovasc Surg 47:349–356. https://doi.org/10.1016/j.ejvs.2013.12.022
doi: 10.1016/j.ejvs.2013.12.022
pubmed: 24485850
Sailer AM, Wagemann JM (2015) Quantification of respiratory movement of the aorta and side branches. J Endovasc Ther 22:905–911. https://doi.org/10.1177/1526602815605325
doi: 10.1177/1526602815605325
pubmed: 26384397
Jansen MM, van der Stelt M, Smorenburg SPM, Slump CH, van Herwaarden JA, Hazenberg CEVB (2021) Target vessel displacement during fenestrated and branched endovascular aortic repair and its implications for the role of traditional computed tomography angiography roadmaps. Quant Imaging Med Surg 11:3945–3955. https://doi.org/10.21037/qims-20-1077
doi: 10.21037/qims-20-1077
pubmed: 34476180
pmcid: 8339664
Condino S, Calabrò EM, Alberti A et al (2014) Simultaneous tracking of catheters and guidewires: comparison to standard fluoroscopic guidance for arterial cannulation. Eur J Vasc Endovasc Surg 47:53–60. https://doi.org/10.1016/j.ejvs.2013.10.001
doi: 10.1016/j.ejvs.2013.10.001
pubmed: 24183249
Nypan E, Tangen GA, Manstad-Hulaas F, Brekken R (2019) Vessel-based rigid registration for endovascular therapy of the abdominal aorta. Minim Invasive Ther Allied Technol 28:127–133. https://doi.org/10.1080/13645706.2019.1575240
doi: 10.1080/13645706.2019.1575240
pubmed: 30810444
de Lambert A, Esneault S, Lucas A, Haigron P, Cinquin P, Magne JL (2012) Electromagnetic tracking for registration and navigation in endovascular aneurysm repair: a phantom study. Eur J Vasc Endovasc Surg 43:684–689. https://doi.org/10.1016/j.ejvs.2012.03.007
doi: 10.1016/j.ejvs.2012.03.007
pubmed: 22487781
Hofstad EF, Sorger H, Leira HO, Amundsen T, Langø T (2014) Automatic registration of CT images to patient during the initial phase of bronchoscopy: a clinical pilot study. Med Phys 41:041903–041912. https://doi.org/10.1118/1.4866884
doi: 10.1118/1.4866884
pubmed: 24694134
Yushkevich PA, Piven J, Hazlett HC et al (2006) User-guided 3D active contour segmentation of anatomical structures: significantly improved efficiency and reliability. Neuroimage 31:1116–1128. https://doi.org/10.1016/j.neuroimage.2006.01.015
doi: 10.1016/j.neuroimage.2006.01.015
pubmed: 16545965
Antiga L, Piccinelli M, Botti L, Ene-Iordache B, Remuzzi A, Steinman DA (2008) An image-based modeling framework for patient-specific computational hemodynamics. Med Bio Eng Comput 46:1097–1112. https://doi.org/10.1007/s11517-008-0420-1
doi: 10.1007/s11517-008-0420-1
Askeland C, Solberg OV, Bakeng JBL et al (2016) CustusX: an open-source research platform for image-guided therapy. Int J Comput Assist Radiol Surg 11:505–519. https://doi.org/10.1007/s11548-015-1292-0
doi: 10.1007/s11548-015-1292-0
pubmed: 26410841
Besl PJ, McKay ND (1992) A method for registration of 3-D shapes. IEEE Trans Pattern Anal Mach Intell 14:239–256. https://doi.org/10.1109/34.121791
doi: 10.1109/34.121791
McCormick M, Liu X, Jomier J, Marion C, Ibanez L (2014) ITK: enabling reproducible research and open science. Front Neuroinform 8:1–11. https://doi.org/10.3389/fninf.2014.00013/abstract
doi: 10.3389/fninf.2014.00013/abstract
Manstad-Hulaas F, Tangen GA, Gruionu LG, Aadahl P, Hernes TAN (2011) Three-dimensional endovascular navigation with electromagnetic tracking: ex vivo and in vivo accuracy. J Endovasc Ther 18:230–240. https://doi.org/10.1583/10-3301.1
doi: 10.1583/10-3301.1
pubmed: 21521064
Ivashchenko OV, Kuhlmann KFD, van Veen R et al (2021) CBCT-based navigation system for open liver surgery: accurate guidance toward mobile and deformable targets with a semi-rigid organ approximation and electromagnetic tracking of the liver. Med Phys 48:2145–2159. https://doi.org/10.1002/mp.14825
doi: 10.1002/mp.14825
pubmed: 33666243
Reinertsen I, Descoteaux M, Siddiqi K, Collins DL (2007) Validation of vessel-based registration for correction of brain shift. Med Image Anal 11:374–388. https://doi.org/10.1016/j.media.2007.04.002
doi: 10.1016/j.media.2007.04.002
pubmed: 17524702
Tam GKL, Cheng Z-Q, Lai Y-K et al (2012) Registration of 3D point clouds and meshes: a survey from rigid to nonrigid. IEEE Trans Vis Comput Graph 19:1199–1217. https://doi.org/10.1109/tvcg.2012.310
doi: 10.1109/tvcg.2012.310
Jäckle S, Eixmann T, Schulz-Hildebrandt H, Hüttmann G, Pätz T (2019) Fiber optical shape sensing of flexible instruments for endovascular navigation. Int J Comput Assist Radiol Surg 14:2137–2145. https://doi.org/10.1007/s11548-019-02059-0
doi: 10.1007/s11548-019-02059-0
pubmed: 31493113
pmcid: 6858473