FDK Half-Scan with a Heuristic Weighting Scheme on a Flat Panel Detector-Based Cone Beam CT (FDKHSCW)

A cone beam circular half-scan scheme is becoming an attractive imaging method in cone beam CT since it improves the temporal resolution. Traditionally, the redundant data in the circular half-scan range is weighted by a central scanning plane-dependent weighting function; FDK algorithm is then applied on the weighted projection data for reconstruction. However, this scheme still suffers the attenuation coefficient drop inherited with FDK when the cone angle becomes large. A new heuristic cone beam geometry-dependent weighting scheme is proposed based on the idea that there exists less redundancy for the projection data away from the central scanning plane. The performance of FDKHSCW scheme is evaluated by comparing it to the FDK full-scan (FDKFS) scheme and the traditional FDK half-scan scheme with Parker's fan beam weighting function (FDKHSFW). Computer simulation is employed and conducted on a 3D Shepp-Logan phantom. The result illustrates a correction of FDKHSCW to the attenuation coefficient drop in the off-scanning plane associated with FDKFS and FDKHSFW while maintaining the same spatial resolution

AUGMENTED REALITY AND INTRAOPERATIVE C-ARM CONE-BEAM COMPUTED TOMOGRAPHY FOR IMAGE-GUIDED ROBOTIC SURGERY

Minimally-invasive robotic-assisted surgery is a rapidly-growing alternative to traditionally open and laparoscopic procedures; nevertheless, challenges remain. Standard of care derives surgical strategies from preoperative volumetric data (i.e., computed tomography (CT) and magnetic resonance (MR) images) that benefit from the ability of multiple modalities to delineate different anatomical boundaries. However, preoperative images may not reflect a possibly highly deformed perioperative setup or intraoperative deformation. Additionally, in current clinical practice, the correspondence of preoperative plans to the surgical scene is conducted as a mental exercise; thus, the accuracy of this practice is highly dependent on the surgeon’s experience and therefore subject to inconsistencies. In order to address these fundamental limitations in minimally-invasive robotic surgery, this dissertation combines a high-end robotic C-arm imaging system and a modern robotic surgical platform as an integrated intraoperative image-guided system. We performed deformable registration of preoperative plans to a perioperative cone-beam computed tomography (CBCT), acquired after the patient is positioned for intervention. From the registered surgical plans, we overlaid critical information onto the primary intraoperative visual source, the robotic endoscope, by using augmented reality. Guidance afforded by this system not only uses augmented reality to fuse virtual medical information, but also provides tool localization and other dynamic intraoperative updated behavior in order to present enhanced depth feedback and information to the surgeon. These techniques in guided robotic surgery required a streamlined approach to creating intuitive and effective human-machine interferences, especially in visualization. Our software design principles create an inherently information-driven modular architecture incorporating robotics and intraoperative imaging through augmented reality. The system's performance is evaluated using phantoms and preclinical in-vivo experiments for multiple applications, including transoral robotic surgery, robot-assisted thoracic interventions, and cocheostomy for cochlear implantation. The resulting functionality, proposed architecture, and implemented methodologies can be further generalized to other C-arm-based image guidance for additional extensions in robotic surgery