Deformable Model-to-Image Registration Toward Augmented Reality-Guided Endovascular Interventions

Endovascular interventions are minimally invasive procedures that utilize the vascular system to access anatomical regions deep within the body. Image-guided assistance provides valuable real-time information about the dynamic state of the vascular environment. However, the reliance on intraoperative 2-D fluoroscopy images limits depth perception, prompting the demand for intraoperative 3-D imaging. Existing image registration methods face difficulties in accurately incorporating tissue deformations compared to the preoperative 3-D model, particularly in a weakly supervised manner. Additionally, reconstructing deformations from 2-D to 3-D space and presenting this intraoperative model visually to clinicians poses further complexities. To address these challenges, this study introduces a novel deformable model-to-image registration framework using deep learning. Furthermore, this research proposes a visualization method through augmented reality to guide endovascular interventions. This study utilized image data collected from nine patients who underwent transcatheter aortic valve implantation (TAVI) procedures. The registration results in 2-D indicate that the proposed deformable model-to-image registration framework achieves a modified dice similarity coefficient (MDSC) value of
$0.89~\pm ~0.02$
and a penalization of deformations in spare space (PDSS) value of
$0.04~\pm ~0.01$
, offering an improvement of 3.5%–98.6% over the state-of-the-art image registration approach. Additionally, the accuracy of registration in 3-D was evaluated using a dataset obtained from an intervention simulator, resulting in a mean absolute error (MAE) of
$1.51~\pm ~1.02$
mm within the region of interest. Overall, the study validates the feasibility and accuracy of the proposed weakly supervised deformable model-to-image registration framework, demonstrating its potential to provide intraoperative 3-D imaging as intervention assistance in dynamic vascular environments.