3D Multimodality Roadmapping in Neuroangiography

In this paper we describe a novel approach to using morphological datasets (such as CT or MR) in the minimally invasive image guidance of intra-arterial and intra-venous endovascular devices in neuroangiography interventions. Minimally invasive X-ray angiography procedures rely on the navigation of endovascular devices, such as guide wires and catheters, through human vessels, using C-arm fluoroscopy. While the bone structure may be visible, and the injection of iodine contrast medium allows to guide endovascular devices through the vasculature, the soft-tissue structures remain invisible in the fluoroscopic images. We intend to present a method for the combined visualization of morphological data, a 3D rotational angiography (3DRA) reconstruction and the live fluoroscopy data stream in a single image. The combination of the fluoroscopic image with the 3DRA vessel tree offers the advantage that endovascular devices can be located with respect to the vasculature, without additional contrast injection, while the position of the C-arm geometry can be altered freely. The additional visualization of the morphological data, adds contextual information to the position of endovascular devices. This article addresses the clinical applications, the real-time aspects of the registration algorithms and fast fused visualization of the proposed metho