Accuracy evaluation of direct navigation with an isocentric 3D rotational X-ray system

A recent review and a taxonomy for hard and soft tissue visualization-based mixed reality

BACKGROUND

Mixed reality (MR) visualization is gaining popularity in image-guided surgery (IGS) systems, especially for hard and soft tissue surgeries. However, a few MR systems are implemented in real time. Some factors are limiting MR technology and creating a difficulty in setting up and evaluating the MR system in real environments. Some of these factors include: the end users are not considered, the limitations in the operating room, and the medical images are not fully unified into the operating interventions.

METHODOLOGY

The purpose of this article is to use Data, Visualization processing, and View (DVV) taxonomy to evaluate the current MR systems. DVV includes all the components required to be considered and validated for the MR used in hard and soft tissue surgeries. This taxonomy helps the developers and end users like researchers and surgeons to enhance MR system for the surgical field.

RESULTS

We evaluated, validated, and verified the taxonomy based on system comparison, completeness, and acceptance criteria. Around 24 state-of-the-art solutions that are picked relate to MR visualization, which is then used to demonstrate and validate this taxonomy. The results showed that most of the findings are evaluated and others are validated.

CONCLUSION

The DVV taxonomy acts as a great resource for MR visualization in IGS. State-of-the-art solutions are classified, evaluated, validated, and verified to elaborate the process of MR visualization during surgery. The DVV taxonomy provides the benefits to the end users and future improvements in MR.

O-arm navigation versus C-arm guidance for pedicle screw placement in spine surgery: a systematic review and meta-analysis

BACKGROUND

O-arm and C-arm are commonly used in spine surgery to guide pedicle screw placement. However, concerning the accuracy and efficiency of them, no systematical review and meta-analyses are available to help surgeons make comparisons.

PURPOSES

This study aims to investigate the accuracy and efficiency of O-arm-navigated versus C-arm-guided pedicle screw placement in thoracic and lumbar spine surgery. It would help surgeons choose the optimal technique for pedicle screw placement.

PATIENTS AND METHODS

A systematic review and meta-analyses were performed after searching the PubMed, Embase, and Cochrane databases to identify all studies that assessed the accuracy and efficiency of navigation coupled with O-arm and conventional C-arm fluoroscopy.

RESULTS

Eight studies were finally recruited in this systematic review, all of which reported pedicle screw placement outcomes related to accuracy or efficiency in both C-arm and O-arm groups. Five studies showed higher screw insertion accuracy in the O-arm group, while one study showed no significant difference. And the pooled results also indicated that the incidence of screw misplacement in the C-arm groups is higher. Moreover, the pooled results from five studies indicated no significant difference in insertion time between C-arm and O-arm.

CONCLUSIONS

Navigation coupled with O-arm imaging displayed a lower efficiency outcome in pedicle screw placement compared to conventional C-arm fluoroscopy. However, in terms of accuracy, O-arm navigation had significant advantages in accuracy over conventional C-arm fluoroscopy.

Co-localized augmented human and X-ray observers in collaborative surgical ecosystem

PURPOSE

Image-guided percutaneous interventions are safer alternatives to conventional orthopedic and trauma surgeries. To advance surgical tools in complex bony structures during these procedures with confidence, a large number of images is acquired. While image-guidance is the de facto standard to guarantee acceptable outcome, when these images are presented on monitors far from the surgical site the information content cannot be associated easily with the 3D patient anatomy.

METHODS

In this article, we propose a collaborative augmented reality (AR) surgical ecosystem to jointly co-localize the C-arm X-ray and surgeon viewer. The technical contributions of this work include (1) joint calibration of a visual tracker on a C-arm scanner and its X-ray source via a hand-eye calibration strategy, and (2) inside-out co-localization of human and X-ray observers in shared tracking and augmentation environments using vision-based simultaneous localization and mapping.

RESULTS

We present a thorough evaluation of the hand-eye calibration procedure. Results suggest convergence when using 50 pose pairs or more. The mean translation and rotation errors at convergence are 5.7 mm and [Formula: see text], respectively. Further, user-in-the-loop studies were conducted to estimate the end-to-end target augmentation error. The mean distance between landmarks in real and virtual environment was 10.8 mm.

CONCLUSIONS

The proposed AR solution provides a shared augmented experience between the human and X-ray viewer. The collaborative surgical AR system has the potential to simplify hand-eye coordination for surgeons or intuitively inform C-arm technologists for prospective X-ray view-point planning.

Prospective Comparison Study Between the Fluoroscopy-guided and Navigation Coupled With O-arm-guided Pedicle Screw Placement in the Thoracic and Lumbosacral Spines

STUDY DESIGN

This is a prospective randomized comparison study between the fluoroscopy-guided and navigation coupled with O-arm-guided pedicle screw placement in the thoracic and lumbosacral spines.

OBJECTIVE

The objective of the study was to evaluate the accuracy and clinical benefits of a navigation coupled with O-arm-guided method in the thoracic and lumbar spines by comparing with a C-arm fluoroscopy-guided method.

METHODS

Under fluoroscopy guidance, 138 pedicle screws were inserted from T9 to S1 in 20 patients, and 124 pedicle screws were inserted from T9 to S1 in 20 patients using the navigation. The position of the screws within the pedicle was assessed from grade 0 (no violation cortex) to grade 3 (>4 mm violation), and the location of the violated cortex was determined. Preparation time of each equipment setting, time for screwing, and the number of x-ray shots were evaluated.

RESULTS

The number of screws observed as grade 0 was 121 (87.7%) in the fluoroscopy-guided group and 114 (91.9%) in the navigation-guided group. The lateral cortex was most commonly involved in the fluoroscopy-guided group (6 cases, 35.3%), and the medial cortex was most common in the navigation-guided group (4 cases, 40%). The mean time required for preparation for screw placement was 3.7 minutes in the fluoroscopy-guided group and 14.2 minutes in the navigation-guided group. Average screwing time was 3.6 minutes in the fluoroscopy-guided group and 4.3 minutes in the navigation-guided group. The mean number of x-ray shots for each screw placement in the fluoroscopy-guided group was 6.5. Postoperatively, 2 patients with misplacement of a screw under fluoroscopy guidance presented ipsilateral leg paresthesia, possibly related to the screw position.

CONCLUSIONS

The present prospective study reveals that the pedicle screw placement guided by the navigation coupled with O-arm system was more accurate and safer than that under fluoroscopy guidance.

Unilateral C1 Lateral Mass and C2 Pedicle Screw Fixation for Atlantoaxial Instability in Rheumatoid Arthritis Patients: Comparison with the Bilateral Method

OBJECTIVE

Bilateral C1 lateral mass and C2 pedicle screw fixation (C1LM-C2P) is an ideal technique for correcting atlantoaxial instability (AAI). However, the inevitable situation of vertebral artery injury or unfavorable bone structure may necessitate the use of unilateral C1LM-C2P. This study compares the fusion rates of the C1 lateral mass and C2 pedicle screw in the unilateral and bilateral methods.

METHODS

Over five years, C1LM-C2P was performed in 25 patients with AAI in our institute. Preoperative studies including cervical X-ray, three-dimensional computed tomography (CT), CT angiogram, and magnetic resonance imaging were performed. To evaluate bony fusion, measurements of the atlanto-dental interval (ADI) and CT scans were performed in the preoperative period, immediate postoperative period, and postoperatively at 1, 3, 6, and 12 months.

RESULTS

Unilateral C1LM-C2P was performed in 11 patients (44%). The need to perform unilateral C1LM-C2P was due to anomalous course of the vertebral artery in eight patients (73%) and severe degenerative arthritis in three patients (27%). The mean ADI in the bilateral group was 2.09 mm in the immediate postoperative period and 1.75 mm in 12-months postoperatively. The mean ADI in the unilateral group was 1.82 mm in the immediate postoperative period and 1.91 mm in 12-months postoperatively. Comparison of ADI measurements showed no significant differences in either group (p=0.893), and the fusion rate was 100% in both groups.

CONCLUSION

Although bilateral C1LM-C2P is effective for AAI from a biomechanical perspective, unilateral screw fixation is a useful alternative in patients with anatomical variations.

Accuracy and Safety in Pedicle Screw Placement in the Thoracic and Lumbar Spines : Comparison Study between Conventional C-Arm Fluoroscopy and Navigation Coupled with O-Arm® Guided Methods

Objective

The authors performed a retrospective study to assess the accuracy and clinical benefits of a navigation coupled with O-arm® system guided method in the thoracic and lumbar spines by comparing with a C-arm fluoroscopy-guided method.

Methods

Under the navigation guidance, 106 pedicle screws inserted from T7 to S1 in 24 patients, and using the fluoroscopy guidance, 204 pedicle screws from T5 to S1 in 45 patients. The position of screws within the pedicle was classified into four groups, from grade 0 (no violation cortex) to 3 (more than 4 mm violation). The location of violated pedicle cortex was also assessed. Intra-operative parameters including time required for preparation of screwing procedure, times for screwing and the number of X-ray shot were assessed in each group.

Results

Grade 0 was observed in 186 (91.2%) screws of the fluoroscopy-guided group, and 99 (93.4%) of the navigation-guided group. Mean time required for inserting a screw was 3.8 minutes in the fluoroscopy-guided group, and 4.5 minutes in the navigation-guided group. Mean time required for preparation of screw placement was 4 minutes in the fluoroscopy-guided group, and 19 minutes in the navigation-guided group. The fluoroscopy-guided group required mean 8.9 times of X-ray shot for each screw placement.

Conclusion

The screw placement under the navigation-guidance coupled with O-arm® system appears to be more accurate and safer than that under the fluoroscopy guidance, although the preparation and screwing time for the navigation-guided surgery is longer than that for the fluoroscopy-guided surgery.

An on-board surgical tracking and video augmentation system for C-arm image guidance

PURPOSE

Conventional tracker configurations for surgical navigation carry a variety of limitations, including limited geometric accuracy, line-of-sight obstruction, and mismatch of the view angle with the surgeon's-eye view. This paper presents the development and characterization of a novel tracker configuration (referred to as "Tracker-on-C") intended to address such limitations by incorporating the tracker directly on the gantry of a mobile C-arm for fluoroscopy and cone-beam CT (CBCT).

METHODS

A video-based tracker (MicronTracker, Claron Technology Inc., Toronto, ON, Canada) was mounted on the gantry of a prototype mobile isocentric C-arm next to the flat-panel detector. To maintain registration within a dynamically moving reference frame (due to rotation of the C-arm), a reference marker consisting of 6 faces (referred to as a "hex-face marker") was developed to give visibility across the full range of C-arm rotation. Three primary functionalities were investigated: surgical tracking, generation of digitally reconstructed radiographs (DRRs) from the perspective of a tracked tool or the current C-arm angle, and augmentation of the tracker video scene with image, DRR, and planning data. Target registration error (TRE) was measured in comparison with the same tracker implemented in a conventional in-room configuration. Graphics processing unit (GPU)-accelerated DRRs were generated in real time as an assistant to C-arm positioning (i.e., positioning the C-arm such that target anatomy is in the field-of-view (FOV)), radiographic search (i.e., a virtual X-ray projection preview of target anatomy without X-ray exposure), and localization (i.e., visualizing the location of the surgical target or planning data). Video augmentation included superimposing tracker data, the X-ray FOV, DRRs, planning data, preoperative images, and/or intraoperative CBCT onto the video scene. Geometric accuracy was quantitatively evaluated in each case, and qualitative assessment of clinical feasibility was analyzed by an experienced and fellowship-trained orthopedic spine surgeon within a clinically realistic surgical setup of the Tracker-on-C.

RESULTS

The Tracker-on-C configuration demonstrated improved TRE (0.87 ± 0.25) mm in comparison with a conventional in-room tracker setup (1.92 ± 0.71) mm (p < 0.0001) attributed primarily to improved depth resolution of the stereoscopic camera placed closer to the surgical field. The hex-face reference marker maintained registration across the 180° C-arm orbit (TRE = 0.70 ± 0.32 mm). DRRs generated from the perspective of the C-arm X-ray detector demonstrated sub- mm accuracy (0.37 ± 0.20 mm) in correspondence with the real X-ray image. Planning data and DRRs overlaid on the video scene exhibited accuracy of (0.59 ± 0.38) pixels and (0.66 ± 0.36) pixels, respectively. Preclinical assessment suggested potential utility of the Tracker-on-C in a spectrum of interventions, including improved line of sight, an assistant to C-arm positioning, and faster target localization, while reducing X-ray exposure time.

CONCLUSIONS

The proposed tracker configuration demonstrated sub- mm TRE from the dynamic reference frame of a rotational C-arm through the use of the multi-face reference marker. Real-time DRRs and video augmentation from a natural perspective over the operating table assisted C-arm setup, simplified radiographic search and localization, and reduced fluoroscopy time. Incorporation of the proposed tracker configuration with C-arm CBCT guidance has the potential to simplify intraoperative registration, improve geometric accuracy, enhance visualization, and reduce radiation exposure.

The "triple-overlay" technique for percutaneous diagnosis and treatment of lesions of the head and neck: combined three-dimensional guidance with magnetic resonance imaging, cone-beam computed tomography, and fluoroscopy

OBJECTIVE

Accurate image guidance is an essential component of percutaneous procedures in the head and neck. The combination of preprocedural magnetic resonance imaging (MRI) with cone-beam computed tomography (CBCT) and real-time fluoroscopy (the "triple-overlay" technique) could be useful in image-guided targeting of lesions in the head and neck.

METHODS

Three patients underwent percutaneous diagnostic or therapeutic procedures of head and neck lesions (mean, 2.3 ± 2.4 cm). One patient presented for biopsy of a small lesion in the infratemporal fossa only visible on MRI, one presented for preoperative embolization of a nasal tumor, and one presented for sclerotherapy of a parotid hemangioma. Preprocedural MRI for each case was merged with CBCT to create a three-dimensional volume for procedural planning. This was then combined with real-time fluoroscopy to create a triple-overlay for needle trajectory and real-time guidance.

RESULTS

The registration of MRI, CBCT, and fluoroscopy was successful for all three procedures, allowing 3D manipulation of the combined images. Percutaneous procedures were successful in all patients without complications.

CONCLUSIONS

The combination of MRI, CBCT, and real-time fluoroscopy provides detailed anatomical information for 3D image-guided percutaneous procedures of the head and neck, especially for small lesions or lesions with features visible only by MRI.

Accuracy of freehand fluoroscopy-guided placement of C1 lateral mass and C2 isthmic screws in atlanto-axial instability

BACKGROUND

The C1 lateral mass and C2 isthmic stabilization, as introduced by Goel and Laheri and by Harms and Melcher, is a well-known fixation technique. We present the clinical and radiographic results with freehand fluoroscopy guided C1 lateral mass and C2 isthmic fixation in a consecutive series of 28 patients, evaluating the accuracy of screw placement.

METHODS

Twenty-eight consecutive patients suffering from post-traumatic and other C1-C2 instability were operated on between 2001 and 2010. Indications for surgery were: trauma (n = 21 cases), os odontoideum (n = 1), cranio-verterbal malformation (n = 1), and arthritis (n = 3) and idiopathic instability (n = 2). C1 lateral mass and C2 isthmic screws were placed according to the usual anatomical landmarks with lateral fluoroscopy guidance. All patients underwent a postoperative CT scan. The extent of cortical lateral or medial breach was determined and classified as follows: no breach (grade A), 0-2 mm (grade B), 2-4 mm (grade C), 4-6 mm (grade D), more than 6 mm (grade E). Grade A and B screws were considered well positioned.

RESULTS

A total of 56 C1 lateral mass and 55 C2 isthmic screws were placed. Accuracy of screw placement was as follows: 107 grade A (96.4%), four grade B (3.6%), and no grade C, D or E. Clinical and radiological follow-up showed improvement in symptoms (mainly pain) and stability of the implants at the end of the follow-up.

CONCLUSIONS

Freehand fluoroscopy-guided insertion of C1 lateral mass and C2 isthmic screws can be safely and effectively performed.

Fast and accurate calibration of an X-ray imager to an electromagnetic tracking system for interventional cardiac procedures

Cardiovascular disease affects millions of Americans each year. Interventional guidance systems are being developed as treatment options for some of the more delicate procedures, including targeted stem cell therapy. As advanced systems for such types of interventional guidance are being developed, electromagnetic (EM) tracking is coming in demand to perform navigation. To use this EM tracking technology, a calibration is necessary to register the tracker to the imaging system. In this paper we investigate the calibration of an X-ray imaging system to EM tracking. Two specially designed calibration phantoms have been designed for this purpose, each having a rigidly attached EM sensor. From a clinical usability point-of-view, we propose to divide this calibration problem into two steps: i) in initial calibration of the EM sensor to the phantom design using an EM tracked needle to trace out grooves in the phantom surface and ii) segmentation from X-ray images and 3D reconstruction of beads embedded in the phantom in a known geometric pattern. Combining these two steps yields and X-ray-to-EM calibration accuracy of less than 1 mm when overlaying an EM tracked needle on X-ray images.

A novel field-of-view augmentation wand for C-arm computed tomography-like fluoroscopy-based intraoperative navigation new technology

Intraoperative fluoroscopically based computed tomography, integrated with a navigation system, holds great potential for improving visualization and navigation in orthopedic procedures. However, a limited field of view generated by the fluoroscopically based computed tomography has imposed a serious limitation, especially for navigation-based procedures. The device presented in this article enables one to overcome the limitation of the small field of view. The device has been evaluated in vitro by five physicians and has been used successfully in one clinical case. In general, we have developed a simple, low-cost in-house device that helps overcome an intrinsic limitation of high-cost systems.

Robust initialization of 2D-3D image registration using the projection-slice theorem and phase correlation

PURPOSE

The image registration literature comprises many methods for 2D-3D registration for which accuracy has been established in a variety of applications. However, clinical application is limited by a small capture range. Initial offsets outside the capture range of a registration method will not converge to a successful registration. Previously reported capture ranges, defined as the 95% success range, are in the order of 4-11 mm mean target registration error. In this article, a relatively computationally inexpensive and robust estimation method is proposed with the objective to enlarge the capture range.

METHODS

The method uses the projection-slice theorem in combination with phase correlation in order to estimate the transform parameters, which provides an initialization of the subsequent registration procedure.

RESULTS

The feasibility of the method was evaluated by experiments using digitally reconstructed radiographs generated from in vivo 3D-RX data. With these experiments it was shown that the projection-slice theorem provides successful estimates of the rotational transform parameters for perspective projections and in case of translational offsets. The method was further tested on ex vivo ovine x-ray data. In 95% of the cases, the method yielded successful estimates for initial mean target registration errors up to 19.5 mm. Finally, the method was evaluated as an initialization method for an intensity-based 2D-3D registration method. The uninitialized and initialized registration experiments had success rates of 28.8% and 68.6%, respectively.

CONCLUSIONS

The authors have shown that the initialization method based on the projection-slice theorem and phase correlation yields adequate initializations for existing registration methods, thereby substantially enlarging the capture range of these methods.

Localizing spherical fiducials in C-arm based cone-beam CT

PURPOSE

C-arm based cone-beam CT (CBCT) imaging enables the in situ acquisition of three dimensional images. In the context of image-guided interventions, this technology potentially reduces the complexity of a procedure's workflow. Instead of acquiring the preoperative volumetric images in a separate location and transferring the patient to the interventional suite, both imaging and intervention are carried out in the same location. A key component in image-guided interventions is image to patient registration. The most common registration approach, in clinical use, is based on fiducial markers placed on the patient's skin which are then localized in the volumetric image and in the interventional environment. When using C-arm CBCT, this registration approach is challenging as in many cases the small size of the volumetric reconstruction cannot include both the skin fiducials and the organ of interest.

METHODS

In this article the author shows that fiducial localization outside the reconstructed volume is possible if the projection images from which the reconstruction was obtained are available. By replacing direct fiducial localization in the volumetric images with localization in the projection images, the author obtains the fiducial coordinates in the volume's coordinate system even when the fiducials are outside the reconstructed region.

RESULTS

The approach was evaluated using two types of spherical fiducials, clinically used 4 mm diameter markers and a custom phantom embedded with 6 mm diameter markers that is part of a commercial navigation system. In all cases, the method localized all fiducials, including those that were outside the reconstructed volume. The method's mean (std) localization error as evaluated using fiducials that were directly localized in the CBCT reconstruction was 0.55 (0.22) mm for the 4 mm markers and 0.51(0.18) mm for the 6 mm markers.

CONCLUSIONS

Based on the evaluations the author concludes that the proposed localization approach is sufficiently accurate to augment or replace direct volumetric fiducial localization for thoracic-abdominal interventions. This allows the physician to position fiducials in a more flexible manner, relaxing the requirement that both the organ of interest and skin surface be contained in the volumetric reconstruction.

Robust gradient-based 3-D/2-D registration of CT and MR to X-ray images

One of the most important technical challenges in image-guided intervention is to obtain a precise transformation between the intrainterventional patient's anatomy and corresponding preinterventional 3-D image on which the intervention was planned. This goal can be achieved by acquiring intrainterventional 2-D images and matching them to the preinterventional 3-D image via 3-D/2-D image registration. A novel 3-D/2-D registration method is proposed in this paper. The method is based on robustly matching 3-D preinterventional image gradients and coarsely reconstructed 3-D gradients from the intrainterventional 2-D images. To improve the robustness of finding the correspondences between the two sets of gradients, hypothetical correspondences are searched for along normals to anatomical structures in 3-D images, while the final correspondences are established in an iterative process, combining the robust random sample consensus algorithm (RANSAC) and a special gradient matching criterion function. The proposed method was evaluated using the publicly available standardized evaluation methodology for 3-D/2-D registration, consisting of 3-D rotational X-ray, computed tomography, magnetic resonance (MR), and 2-D X-ray images of two spine segments, and standardized evaluation criteria. In this way, the proposed method could be objectively compared to the intensity, gradient, and reconstruction-based registration methods. The obtained results indicate that the proposed method performs favorably both in terms of registration accuracy and robustness. The method is especially superior when just a few X-ray images and when MR preinterventional images are used for registration, which are important advantages for many clinical applications.

A feasibility study of computer-assisted bone graft implantation for tissue-engineered replacement of the human ankle joint

OBJECTIVE

Computer-assisted graft implantation may contribute to achieving biological joint replacement in the future. The purpose of this experimental study was to evaluate the feasibility and accuracy of a series of computer-assisted graft implantations into human cadaver ankle joints.

METHODS

Three-dimensional graft models of virtually planned corresponding tibial and talar defects were created from bovine cancellous bone. A platform for computer-assisted surgery (CAS) was set up to implant the grafts. Registration was performed by pair-point matching with anatomical landmarks. In the case of insufficient registration accuracy, artificial landmarks were used for registration. Eight grafts (four tibial, four talar) were implanted in four human cadaver ankle joints. Postoperative CT was used for outcome analysis. The following criteria of accuracy were defined: macroscopic quality of implant fit; quality of the sagittal and coronar joint surface; and quality of the undersurface of the graft in relation to the base of the defect.

RESULTS

No technical complications were observed during computer-assisted graft implantation. Clinically acceptable accuracy was achieved in 6 of 8 graft implantations, with implant failure occurring at the tibial and talar location in one ankle joint. In total, 25 of 32 criteria of accuracy were achieved: 6/8 for macroscopic implant fit; 5/8 for quality of the sagittal joint surface; 7/8 for quality of the coronar joint surface; and 7/8 for quality of the undersurface of the graft. Registration with anatomical landmarks did not achieve sufficient accuracy in 4 of 8 cases, whereas registration with artificial landmarks was successful in all these cases.

CONCLUSIONS

We demonstrated the feasibility and accuracy of computer-assisted graft implantation for tissue-engineered replacement of the human ankle joint. However, we cannot recommend the present type of registration by pair-point matching with anatomical landmarks due to the considerable inaccuracies. The focus should be on the improvement of non-invasive registration techniques and methods for evaluating postoperative outcome.

Three-dimensional rotational X-ray navigation for needle guidance in percutaneous vertebroplasty: an accuracy study

STUDY DESIGN

The position of a needle tip displayed on a navigation system after transpedicular introduction into a vertebral body is compared with the real position of the needle tip when using a direct navigation coupling between a three-dimensional rotational X-ray (3DRX) system and a navigation system.

OBJECTIVES

To assess whether the needle tip position displayed by the navigation system corresponds to the real needle position and to quantitatively determine needle navigation accuracy in a clinically relevant setting.

SUMMARY OF BACKGROUND DATA

Image-guided navigation has reportedly increased the accuracy and safety of pedicle screw insertion and decreased complication rates. In former studies, the result of image-guided navigation was mainly compared qualitatively with the result of conventional fluoroscopy-guided procedures. Previously, a direct navigation coupling between a 3DRX system and a standard navigation system was introduced that bypasses the need for explicit patient-to-image registration necessary for image-guided orthopedic surgery. In a phantom experiment, the reported accuracy of navigation with the coupling to a 3DRX system was approximately 1 mm. However, in a clinical setting, additional errors can be introduced.

METHODS

Twenty-three needles were placed transpedicularly into vertebral bodies of embalmed human trunks using 3DRX-guided navigation. The navigated needle tip positions were compared with the real needle tip positions manually extracted from 3DRX volumes acquired after completion of the introduction.

RESULTS

The average distance between the navigated needle tip and the real position of the needle tip extracted from a postprocedure 3DRX volume was 2.5 +/- 1.5 mm.

CONCLUSIONS

Accuracy of 3DRX-guided navigation is 2.5 +/- 1.5 mm in a clinically relevant setting, which is less than the accuracy determined in phantom experiments.