Automated fiducial marker detection and fiducial point localization in CT images for lung biopsy image-guided surgery systems

Article type: Research Article

Authors: Bao, Nan^a | Li, Ang^a | Zhao, Wei^a | Cui, Zhiming^b | Tian, Xinhua^c | Yue, Yong^d | Li, Hong^{a; *} | Qian, Wei^{a; e}

Affiliations: [a] Sino-Dutch Biomedical and Information Engineering School, Northeastern University, Shen Yang, Liao Ning, China | [b] Department of Computer Science, The University of Hong Kong, Hong Kong, China | [c] Department of Radiology, The Second Hospital of Jilin University, Chang Chun, Ji Lin, China | [d] Department of Radiology, ShengJing Hospital of China Medical University, Shen Yang, Liao Ning, China | [e] Department of Electrical and Computer Engineering, University of Texas at El Paso, TX, USA

Correspondence: [*] Corresponding author: Hong Li, Sino-Dutch Biomedical and Information Engineering School, Northeastern University, 195 Chuangxin Road, Shenyang, Liaoning, China. CO 110004. Tel.: +86 13889202825; E-mail: 457329247@qq.com.

Abstract: In the lung biopsy image-guided surgery systems, the fiducial markers are used for point-based registration of the patient space to the CT image space. Fiducial marker detection and fiducial point localization in CT images have great influence on the accuracy of registration and guidance. This study proposes a fiducial marker detection approach based on the features of marker image slice sequences and a fiducial point localization approach according to marker projection images, without depending on the priori-knowledge of the marker default parameters provided by the manufacturers. The accuracy of our method was validated based on a CT image dataset of 24 patients. The experimental results showed that all 144 markers of 24 patients were correctly detected, and the fiducial points were localized with the average error of 0.35 mm. In addition, the localization accuracy of the proposed method was improved by an average of 12.5% compared with the accuracy of the previous method using the marker default parameters provided by the manufacturers. Thus, the study demonstrated that the proposed detection and localization methods are accurate and robust, which is quite encouraging to meet the requirement of future clinical applications in the image guided lung biopsy and surgery systems.

Keywords: Image-guided surgery, marker detection, fiducial point localization, CT image, point-based registration

DOI: 10.3233/XST-180464

Journal: Journal of X-Ray Science and Technology, vol. 27, no. 3, pp. 417-429, 2019