Fast time-of-flight camera based surface registration for radiotherapy patient positioning

Medical Physics

Volumn 39, Issue 1, 2012, Pages 4-17

  Placht, Simon ^a,b   Stancanello, Joseph ^c   Schaller, Christian ^a   Balda, Michael ^a   Angelopoulou, Elli ^b  

^a Metrilus GmbH   (Germany)

^b UNIVERSITY OF ERLANGEN NUREMBERG   (Germany)

^c GERMAN CANCER RESEARCH CENTER DKFZ   (Germany)

Author keywords

Kalman filtering; radiotherapy; registration; surface features; time of flight cameras

Indexed keywords

CAMERAS; COST EFFECTIVENESS; DEFORMATION; IMAGE REGISTRATION; KALMAN FILTERS; RADIOTHERAPY; ROTATION; TECHNOLOGY TRANSFER;

ITERATIVE CLOSEST POINT ALGORITHM; KALMAN-FILTERING; OFF-THE-SHELF TECHNOLOGIES; REGISTRATION; ROTATION INVARIANT FEATURES; SURFACE FEATURE; TIME OF FLIGHT (TOF) CAMERAS; TIME-OF-FLIGHT CAMERAS;

ITERATIVE METHODS;

EID: 84855454883     PISSN: 00942405     EISSN: None     Source Type: Journal    
DOI: 10.1118/1.3664006     Document Type: Article

References (47)

1. D. P. Gierga, M. Riboldi, J. C. Turcotte, G. C. Sharp, S. B. Jiang, A. G. Taghian, and G. T. Y. Chen, Comparison of target registration errors for multiple image-guided techniques in accelerated partial breast irradiation., Int. J. Radiat. Oncol., Biol., Phys. 70 (4), 1239-1246 (2008). 10.1016/j.ijrobp.2007.11.020
2. D. R. Olsen and D. I. Thwaites, Now you see it Imaging in radiotherapy treatment planning and delivery., Radiat. Oncol. 85 (2), 173-175 (2007). 10.1016/j.radonc.2007.11.001
3. J. J. Lagendijk, B. W. Raaymakers, A. J. Raaijmakers, J. Overweg, K. J. Brown, E. M. Kerkhof, R. W. van der Put, B. Hrdemark, M. van Vulpen, and U. A. van der Heide, MRI/linac integration., Radiother. Oncol. 86 (1), 25-29 (2008). 10.1016/j.radonc.2007.10.034
4. M. Ghilezan, D. Yan, and A. Martinez, Adaptive radiation therapy for prostate cancer., Semin. Radiat. Oncol. 20 (2), 130-137 (2010). 10.1016/j.semradonc.2009.11.007
5. P. Keall, S. Vedam, R. George, C. Bartee, J. Siebers, F. Lerma, E. Weiss, and T. Chung, The clinical implementation of respiratory-gated intensity-modulated radiotherapy., Med. Dosim. 31 (2), 152-162 (2006). 10.1016/j.meddos.2005.12.002
6. T. H. Wagner, S. L. Meeks, F. J. Bova, W. A. Friedman, T. R. Willoughby, P. A. Kupelian, and W. Tome, Optical tracking technology in stereotactic radiation therapy., Med. Dosim. 32 (2), 111-120 (2007). 10.1016/j.meddos.2007. 01.008
7. Y. Suh, E. Weiss, H. Zhong, M. Fatyga, J. V. Siebers, and P. J. Keall, A deliverable four-dimensional intensity-modulated radiation therapy-planning method for dynamic multileaf collimator tumor tracking delivery., Int. J. Radiat. Oncol., Biol., Phys. 71 (5), 1526-1536 (2008). 10.1016/j.ijrobp.2008.04. 018
8. C. Ozhasoglu, C. B. Saw, H. Chen, S. Burton, K. Komanduri, N. J. Yue, S. M. Huq, and D. E. Heron, Synchrony-Cyberknife respiratory compensation technology., Med. Dosim. 33 (2), 117-123 (2008). 10.1016/j.meddos.2008.02.004
9. D. M. Cash, T. K. Sinha, R. L. Galloway, M. I. Miga, W. C. Chapman, H. Terawaki, and B. M. Dawant, Incorporation of a laser range scanner into image-guided liver surgery: Surface acquisition, registration, and tracking., Med. Phys., 30 (7), 1671-1682 (2003). 10.1118/1.1578911
10. J. L. Peng, D. Kahler, J. G. Li, S. Samant, G. Yan, R. Amdur, and C. Liu, Characterization of a real-time surface image-guided stereotactic positioning system., Med. Phys. 37 (10), 5421-5433 (2010). 10.1118/1.3483783
11. http://www.lap-america.com/pdf-files/Galaxy0707.pdf.
12. http://www.c-rad.info/document/pallotta.pdf.
13. C. Bert, K. G. Metheany, K. Doppke, and G. T. Y. Chen, A phantom evaluation of a stereo-vision surface imaging system for radiotherapy patient setup., Med. Phys., 32 (9), 2753-2762 (2005). 10.1118/1.1984263
14. Y. F. Li and S. Y. Chen, Automatic recalibration of an active structured light vision system., IEEE Trans. Rob. Autom., 19 (2), 259-268 (2003). 10.1109/TRA.2003.808859
15. C. Schaller, A. Adelt, J. Penne, and J. Hornegger, Time-of-flight sensor for patient positioning., Proceedings of SPIE on Medical Imaging, edited by, M. I. Miga, and, K. H. Wong, (SPIE, Lake Buena Vista, Florida, 2009), Vol. 7261, No. 8.
16. S. Placht, C. Schaller, M. Balda, A. Adelt, C. Ulrich, and J. Hornegger, Improvement and evaluation of a time-of-flight based patient positioning system., Bildverarbeitung für die Medizin 2010, edited by, H.-P. Meinzer, T. M. Deserno, H. Handels, and, T. Tolxdorff, (Springer Berlin/Heidelberg, Aachen, Germany, 2010), pp. 177-181.
17. K. Müller, S. Bauer, J. Wasza, and J. Hornegger, Automatic multi-modal ToF/CT organ surface registration., Bildverarbeitung für die Medizin 2011, edited by, H. Handels, J. Ehrhardt, T. M. Deserno, H. P. Meinzer, and, T. Tolxdorff, (Springer Berlin/Heidelberg, Lübeck, Germany, 2011), pp. 154-158.
18. Z. Xu, R. Schwarte, H. Heinol, B. Buxbaum, and T. Ringbeck, Smart pixel-Photometric mixer device (PMD)/new system concept of a 3D-imaging-on-a-chip., 5th International Conference on Mechatronics and Machine Vision in Practice (Nanjing, China, 1998), pp. 259-264.
19. C. Schaller, C. Rohkohl, J. Penne, M. Stürmer, and J. Hornegger, Inverse C-arm positioning for interventional procedures using real-time body part detection., MICCAI 2009, Part I, LNCS 5761, edited by, G.-Z. Yang, D. Hawkes, D. Rueckert, A. Noble, and, C. Taylor, (Springer Berlin/Heidelberg, London, UK, 2009), pp. 549-556.
20. J. Jacq, C. Schwartz, V. Burdin, C. Lefevre, O. Rémy-Néris, C. Roux, and R. Gerard, Building and tracking root shapes., IEEE Trans. Biomed. Eng., 57 (3), 696-707 (2010). 10.1109/TBME.2009.2022404
21. J. Penne, K. Höller, M. Stürmer, T. Schrauder, A. Schneider, R. Engelbrecht, H. Feuner, B. Schmauss, and J. Hornegger, Time-of-flight 3-D endoscopy., MICCAI 2009, Part I, LNCS 5761, edited by, G.-Z. Yang, D. Hawkes, D. Rueckert, A. Noble, and, C. Taylor, (Springer Berlin/Heidelberg, London, UK, 2009), pp. 467-474.
22. C. Schaller, J. Penne, and J. Hornegger, Time-of-flight sensor for respiratory motion gating., Med. Phys. 35 (7), 3090-3093 (2008). 10.1118/1.2938521
23. H. Fayad, T. Pan, C. Roux, C. Cheze-Le Rest, O. Pradier, J. F. Clement, and D. Visvikis, A patient specific model based on 4D CT data and a time of flight camera (TOF)., IEEE Nuclear Science Symposium and Medical Imaging Conference (NSS-MIC) (IEEE, Orlando, Florida, 2009), pp. 2594-2598.
24. J. F. Clement, H. Fayad, M. Lamard, O. Pradier, C. Cheze-Le Rest, and D. Visvikis, Time of flight camera (TOF) for contact-less and marker-less 3D respiratory motion detection., Society of Nuclear Medicine Annual Meeting (Society of Nuclear Medicine, Toronto, Canada, 2009).
25. T. Wentz, H. Fayad, J. F. Clement, J. Savéan, M. Hatt, and D. Visvikis, Extraction and evaluation of anatomical patient surface and associated respiratory motion with a time-of-flight (ToF) camera., Society of Nuclear Medicine Annual Meeting (Society of Nuclear Medicine, San Antonio, Texas, 2011).
26. H. Fayad, T. Pan, J. F. Clement, and D. Visvikis, Correlation of respiratory motion between external patient surface and internal anatomical landmarks., Med. Phys., 38 (6), 3157-3164 (2011). 10.1118/1.3589131
27. A. Kolb, E. Barth, R. Koch, and R. Larsen, Time-of-flight sensors in computer graphics., Eurographics (State-of-the-Art Report), edited by, M. Pauly, and, G. Greiner, (Eurographics, Munich, Germany, 2009), pp. 119-134.
28. S. H. Benedict, K. M. Yenice, D. Followill, J. M. Galvin, W. Hinson, B. Kavanagh, P. Keall, M. Lovelock, S. Meeks, L. Papiez, T. Purdie, R. Sadagopan, M. C. Schell, B. Salter, D. J. Schlesinger, A. S. Shiu, T. Solberg, D. Y. Song, V. Stieber, R. Timmerman, W. A. Tom é, D. Verellen, L. Wang, and F. F. Yin, Stereotactic body radiation therapy: The report of AAPM Task Group 101., Med. Phys. 37 (8), 4078-4101 (2010). 10.1118/1.3438081
29. M. Wang, R. Rohling, C. Duzenli, B. Clark, and N. Archip, Evaluation of targeting errors in ultrasound-assisted radiotherapy., Ultrasound Med. Biol. 34 (12), 1944-1956 (2008). 10.1016/j.ultrasmedbio.2008.06.001
30. C. F. Serago, S. J. Buskirk, T. C. Igel, A. A. Gale, N. E. Serago, and J. D. Earle, Comparison of daily megavoltage electronic portal imaging or kilovoltage imaging with marker seeds to ultrasound imaging or skin marks for prostate localization and treatment positioning in patients with prostate cancer., Int. J. Radiat. Oncol., Biol., Phys. 65 (5), 1585-1592 (2006). 10.1016/j.ijrobp.2006.04.019
31. D. H. U. Kochanek and R. H. Bartels, Interpolating splines with local tension, continuity, and bias control., SIGGRAPH '84: Proceedings of the 11th annual conference on computer graphics and interactive techniques 18 (3), 33-41 (1984).
32. G. Welch and G. Bishop, An introduction to the Kalman filter., Technical Report 95-041 (Department of Computer Science, University of North Carolina at Chapel Hill, Chapel Hill, NC, 2006) 95-041.
33. R. E. Kalman, A new approach to linear filtering and prediction problems., Trans. ASME J. Basic Eng., 82 (1), 35-45 (1960). 10.1115/1.3662552
34. A. M. Bronstein, M. M. Bronstein, and R. Kimmel, Numerical geometry of non-rigid shapes., 1st ed., Monographs in Computer Science (Springer, New York, 2008).
35. S. Rusinkiewicz, M. Levoy, Efficient variants of the ICP algorithm., Proceedings of the Third International Conference on 3D Digital Imaging and Modeling (IEEE Computer Society, Québec City, Canada, 2001), pp. 145-152.
36. T. Möller, H. Kraft, J. Frey, M. Albrecht, and R. Lange, Robust 3D Measurement with PMD Sensors., Proceedings of the 1st Range Imaging Research Day at ETH, Zürich (2005).
37. C. Ulrich, C. Schaller, J. Penne, and J. Hornegger, Evaluation of a time-of-flight based respiratory motion management system., Bildverarbeitung für die Medizin, edited by, H.-P. Meinzer, T. M. Deserno, H. Handels, and, T. Tolxdorff, (Springer Berlin/Heidelberg, Aachen, Germany, 2010), pp. 152-156.
38. G. Agam and X. Tang, A sampling framework for accurate curvature estimation in discrete surfaces., IEEE Trans. Vis. Comput. Graph., 11 (5), 573-583 (2005). 10.1109/TVCG.2005.69
39. M. Meyer, M. Desbrun, P. Schröder, and A. Barr, Discrete differential geometry operators for triangulated 2-manifolds., International Workshop on Visualization and Mathematics, edited by, H.-C. Hege, and, K. Polthier, (Springer Berlin/Heidelberg, Berlin, Germany, 2002).
40. N. Gelfand, N. J. Mitra, L. J. Guibas, and H. Pottmann, Robust global registration., in SGP '05, Proceedings of the third Eurographics symposium on Geometry processing, edited by, M. Desbrun, and, H. Pottmann, (Eurographics Association, Vienna, Austria, 2005), pp. 197-206.
41. S. Manay and B.-W. Hong, Integral invariants for shape matching., IEEE Trans. Pattern Anal. Mach. Intell. 28 (10), 1602-1618 (2006). 10.1109/TPAMI.2006.208
42. A. E. Johnson and M. Hebert, Using spin images for efficient object recognition in cluttered 3D scenes., IEEE Trans. Pattern Anal. Mach. Intell., 21 (5), 433-449 (1999). 10.1109/34.765655
43. S. Belongie, J. Malik, and J. Puzicha, Shape matching and object recognition using shape contexts., IEEE Trans. Pattern Anal. Mach. Intell., 24 (4), 509-522 (2002). 10.1109/34.993558
44. P. G. Maxim, B. W. Loo, Jr, J. D. Murphy, K. P. Chu, A. Hsu, and O. T. Le, On-board imaging validation of optically guided stereotactic radiosurgery positioning system for conventionally fractionated radiotherapy for paranasal sinus and skull base cancer., Int. J. Radiat. Oncol., Biol., Phys. 81, 1153 (2011). 10.1016/j.ijrobp.2010.08.049
45. M. F. Spadea, G. Baroni, M. Riboldi, R. Luraschi, B. Tagaste, C. Garibaldi, G. Catalano, R. Orecchia, and A. Pedotti, Benefits of six degrees of freedom for optically driven patient set-up correction in SBRT., Technol. Cancer Res. Treat. 7 (3), 187-195 (2008).
46. G. Li,. Ballangrud, L. Kuo, H. Kang, A. Kirov, M. Lovelock, Yo. Yamada, J. Mechalakos, and H. Amols, Motion monitoring for cranial frameless stereotactic radiosurgery using video-based three-dimensional optical surface imaging., Med. Phys. 38 (7), 3981-3994 (2011). 10.1118/1.3596526
47. M. Riboldi, G. Baroni, R. Orecchia, and A. Pedotti, Enhanced surface registration techniques for patient positioning control in breast cancer radiotherapy., Technol. Cancer Res. Treat. 3 (1), 51-58 (2004).