This work presents a novel scheme for tracking of motion and deformation of interventional tools such as guide-wires and catheters in fluoroscopic X-ray sequences. Being able to track and thus to estimate the correct positions of these tools is crucial in order to offer guidance enhancement during interventions. The task of estimating the apparent motion is particularly challenging due to the low signal-to-noise ratio (SNR) of fluoroscopic images and due to combined motion components originating from patient breathing and tool interactions performed by the physician. The presented approach is based on modeling interventional tools with B-splines whose optimal configuration of control points is determined through efficient discrete optimization. Each control point corresponds to a discrete random variable in a Markov random field (MRF) formulation where a set of labels represents the deformation space. In this context, the optimal curve corresponds to the maximum a posteriori (MAP) estimate of the MRF energy. The main motivation for employing a discrete approach is the possibility to incorporate a multi-directional search space which is robust to local minima. This is of particular interest for curve tracking under large deformation. This work analyzes feasibility of employing efficient first-order MRFs for tracking. In particular it shows how to achieve a good compromise between energy approximations and computational efficiency. Experimental results suggest to define both the external and internal energy in terms of pairwise potential functions. The method was successfully applied to the tracking of guide-wires in fluoroscopic X-ray sequences of several hundred frames which requires extremely robust techniques. Comparisons with state-of-the-art guide-wire tracking algorithms confirm the effectiveness of the proposed method.

The characterization of thrombus formation in time-lapse DIC microscopy is of increased interest for identifying genes which account for atherothrombosis and coronary artery diseases (CADs). In particular, we are interested in large-scale studies on zebrafish, which result in large amount of data, and require automatic processing. In this work, we present an image-based solution for the automatized extraction of parameters quantifying the temporal development of thrombotic plugs. Our system is based on the joint segmentation of thrombotic and aortic regions over time. This task is made difficult by the low contrast and the high dynamic conditions observed in vivo DIC microscopic scenes. Our key idea is to perform this segmentation by distinguishing the different motion patterns in image time series rather than by solving standard image segmentation tasks in each image frame. Thus, we are able to compensate for the poor imaging conditions. We model motion patterns by energies based on the idea of dynamic textures, and regularize the model by two prior energies on the shape of the aortic region and on the topological relationship between the thrombus and the aorta. We demonstrate the performance of our segmentation algorithm by qualitative and quantitative experiments on synthetic examples as well as on real in vivo microscopic sequences.

A novel scheme for deformable tracking of curvilinear structures in image sequences is presented. The approach is based on B-spline snakes defined by a set of control points whose optimal configuration is determined through efficient discrete optimization. Each control point is associated with a discrete random variable in a MAP-MRF formulation where a set of labels captures the deformation space. In such a context, generic terms are encoded within this MRF in the form of pairwise potentials. The use of pairwise potentials along with the B-spline representation offers nearly perfect approximation of the continuous domain. Efficient linear programming is considered to recover the approximate optimal solution. The method is successfully applied to the tracking of guide-wires in fluoroscopic X-ray sequences of several hundred frames which requires extremely robust techniques.

Alignment of angiographic 3D scans to 2D projections is an important issue for 3D depth perception and navigation during interventions. Currently, in a setting where only one 2D projection is available, methods employing a rigid transformation model present the state of the art for this problem. In this work, we introduce a method capable of deformably registering 3D vessel structures to a respective single projection of the scene. Our approach addresses the inherent ill-posedness of the problem by incorporating a priori knowledge about the vessel structures into the formulation. We minimize the distance between the 2D points and corresponding projected 3D points together with regularization terms encoding the properties of length preservation of vessel structures and smoothness of deformation. We demonstrate the performance and accuracy of the proposed method by quantitative tests on synthetic examples as well as real angiographic scenes.

2D angiographic roadmapping is used frequently during image guided interventions to superimpose vessel structures onto currently acquired fluoroscopic images. While the fluoroscopic images, acquired with 12-15 frames per second, show patient bone anatomy as well as the current location of the inserted catheter, the roadmap delineates vessels to provide path information and to avoid accidental vessel wall punctures during catheter advancement.