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Summary: IN:Springer Lecture Notes in Computer Science 1935
Fiducial Registration from a Single X-Ray Image: A New
Technique for Fluoroscopic Guidance and Radiotherapy
T. S. Y. Tang R. E. Ellis G. Fichtinger
Computing and Information Science, Queen's University at Kingston, Canada
CISST/ERC Johns Hopkins University, Baltimore, Maryland, USA
contact: ellis@cs.queensu.ca
Abstract. Fiducial registration is useful both in applications where other regis-
tration techniques have poor performance and for validation of new registration
techniques. Registration of 3D CT or MR images to 2D X-ray images is partic-
ularly difficult, in part because automated contour extraction from 2D images is
not yet well solved and in part because of the considerable computational expense
in matching the contours to the 3D images.
This work addresses the problem of fiducial registration from a single X-ray im-
age. We have developed an algorithm for fast, efficient registration of 3D fiducial
locations to the lines cast from the X-ray source to the 2D projective image that
is 60 times faster than the popular iterated closest-point algorithm. The algorithm
has been tested on fluoroscopic images from portable C-arms and on portal im-
ages from a radiotherapy device. On these images, six or seven fiducials can be
registered within seconds to an absolute accuracy of about one millimeter and
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