Parallax-Free Long Bone X-ray Image Stitching

Authors:
Lejing Wang;Joerg Traub;Simon Weidert;Sandro Michael Heining;Ekkehard Euler;Nassir Navab
Affiliations:
Chair for Computer Aided Medical Procedures (CAMP), TU Munich, Germany;Chair for Computer Aided Medical Procedures (CAMP), TU Munich, Germany;Trauma Surgery Department, Klinikum Innenstadt, LMU Munich, Germany;Trauma Surgery Department, Klinikum Innenstadt, LMU Munich, Germany;Trauma Surgery Department, Klinikum Innenstadt, LMU Munich, Germany;Chair for Computer Aided Medical Procedures (CAMP), TU Munich, Germany
Venue:
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
Year:
2009

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Abstract

In this paper, we present a novel method to create parallax-free panoramic X-ray images of long bones during surgery by making the C-arm rotate around its X-ray source, relative to the patient's table. In order to ensure that the C-arm motion is a relative pure rotation around its X-ray source, we move the table to compensate for the translational part of the motion based on C-arm pose estimation, for which we employed a Camera Augmented Mobile C-arm system [1] and a visual planar marker pattern. Thus, we are able to produce a parallax-free panoramic X-ray image that preserves the property of linear perspective projection. We additionally implement a method to reduce the error caused by varying intrinsic parameters of C-arm X-ray imaging. The results show that our proposed method can generate a parallax-free panoramic X-ray image, independent of the configuration of bone structures and without the requirement of a fronto-parallel setup or any overlap in the X-ray images. The resulting panoramic images have a negligible difference (below 2 pixels) in the overlap between two consecutive individual X-ray images and have a high visual quality, which promises suitability for intra-operative clinical applications in orthopedic and trauma surgery.