Real-Time Respiratory Motion Analysis Using Manifold Ray Casting of Volumetrically Fused Multi-view Range Imaging

Jakob Wasza¹, Sebastian Bauer¹, and Joachim Hornegger^{1, 2}

¹Pattern Recognition Lab, Department of Computer Science Friedrich-Alexander-Universität Erlangen-Nürnberg, Germany
jakob.wasza@cs.fau.de
sebastian.bauer@cs.fau.de
joachim.hornegger@cs.fau.de

²Erlangen Graduate School in Advanced Optical Technologies (SAOT) Friedrich-Alexander-Universität Erlangen-Nürnberg, Germany

Abstract. A novel real-time multi-sensor framework for range imaging (RI) based respiratory motion analysis in image guided interventions such as fractionated radiation therapy is presented. We constitute our method based upon real-time constraints in clinical practice and an analytic analysis of RI based elastic body surface deformation fields. For the latter, we show that the underlying joint rigid and non-rigid registration problem is ill-conditioned and identify insufficient body coverage as an error source. Facing these issues, we propose a novel manifold ray casting technique enabling the reconstruction of an 180° coverage body surface model composed of ~3·10⁵ points from volumetrically fused multi-view range data in ~25 ms. Exploiting the wide field of view surface model enabled by our method, we reduce the error in motion compensated patient alignment by a factor of 2.7 in the translational and 2.4 in the rotational component compared to conventional single sensor surface coverage.

LNCS 8150, p. 116 ff.

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