3D catheter reconstruction using non-rigid structure-from-motion and robotics modeling

摘要

Surgical guidance during minimally invasive intervention could be greatly enhanced if the 3D location and orientation of instruments, especially catheters, is available. In this paper, we present a new method for the 3D reconstruction of deforming curvilinear objects such as catheters, using the framework of Non-Rigid Structurefrom- Motion (NRSfM). We combine NRSfM with a kinematics model from the field of Robotics, which provides a low-dimensional parametrization of the object deformation. This is used in the context of an X-ray imaging system where multiple views are acquired with a small view separation. We show that using such a kinematics model, a non-linear optimization scheme succeeds in retrieving the deformable 3D pose from the 2D projections. Experiments on synthetic and real X-ray data show promising results of the proposed method as compared to state-of-the-art NRSfM.