Robust Intensity-based Initialization for 2D-3D Pelvis Registration (RobIn)

In image-guided orthopedic procedures, 2D-3D registration is an essential tool to align intra-operative 2D X-ray images with pre-operative 3D CT data. Since this is a non-convex problem, appropriate initialization is important. Here,we introduceRobIn, a robust and solely intensity-based initialization method for intervention support for pelvic fractures. Key to RobIn’s robustness is the focus on the bony pelvis region in the 2D X-ray images, which is determined by automatic segmentation. First validation studies on simulated X-rays demonstrate that RobIn successfully retrieves ground truth in about 99.7% of the cases.