Three-dimensional catheter navigation of airways using continuous-sweep limited angle fluoroscopy on a C-arm

Abstract

Purpose: To develop an imaging-based 3D catheter navigation system for transbronchial procedures including biopsy and tumor ablation using a single-plane C-arm x-ray system. The proposed system provides time-resolved catheter shape and position as well as motion compensated 3D airway roadmaps. Approach: A continuous-sweep limited angle (CLA) imaging mode where the C-arm continuously rotates back and forth within a limited angular range while acquiring x-ray images was used for device tracking. The catheter reconstruction was performed using a sliding window of the most recent x-ray images, which captures information on device shape and position versus time. The catheter was reconstructed using a model-based approach and was displayed together with the 3D airway roadmap extracted from a pre-navigational cone-beam CT (CBCT). The roadmap was updated in regular intervals using deformable registration to tomosynthesis reconstructions based on the CLA images. The approach was evaluated in a porcine study (three animals) and compared to a gold standard CBCT reconstruction of the device. Results: The average 3D root mean squared distance between CLA and CBCT reconstruction of the catheter centerline was $1\pm 0.5\mathrm{mm}$ for a stationary catheter and $2.9\pm 1.1\mathrm{mm}$ for a catheter moving at $\sim 1\mathrm{cm}/s$ . The average tip localization error was $1.3\pm 0.7\mathrm{mm}$ and $2.7\pm 1.8\mathrm{mm}$ , respectively. Conclusions: The results indicate catheter navigation based on the proposed single plane C-arm imaging technique is feasible with reconstruction errors similar to the diameter of a typical ablation catheter.

Keywords: 4D reconstruction; C-arm; catheter tracking; fluoroscopy; pulmonary interventions.