{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,10,21]],"date-time":"2026-10-21T15:09:20Z","timestamp":1792595360327,"version":"4.5.0"},"reference-count":30,"publisher":"IOP Publishing","issue":"5","license":[{"start":{"date-parts":[[2015,2,12]],"date-time":"2015-02-12T00:00:00Z","timestamp":1423699200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/publishingsupport.iopscience.iop.org\/iop-standard\/v1"},{"start":{"date-parts":[[2015,2,12]],"date-time":"2015-02-12T00:00:00Z","timestamp":1423699200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/iopscience.iop.org\/info\/page\/text-and-data-mining"}],"content-domain":{"domain":["iopscience.iop.org"],"crossmark-restriction":false},"short-container-title":["Phys. Med. Biol."],"published-print":{"date-parts":[[2015,3,7]]},"abstract":"<jats:title>Abstract<\/jats:title>\n                  <jats:p>An image-based 3D\u20132D registration method is presented using radiographs acquired in the uncalibrated, unconstrained geometry of mobile radiography. The approach extends a previous method for six degree-of-freedom (DOF) registration in C-arm fluoroscopy (namely \u2018LevelCheck\u2019) to solve the 9-DOF estimate of geometry in which the position of the source and detector are unconstrained. The method was implemented using a gradient correlation similarity metric and stochastic derivative-free optimization on a GPU. Development and evaluation were conducted in three steps. First, simulation studies were performed that involved a CT scan of an anthropomorphic body phantom and 1000 randomly generated digitally reconstructed radiographs in\u00a0posterior\u2013anterior and lateral views. A median projection distance error (PDE) of 0.007\u2009mm was achieved with 9-DOF registration compared to 0.767\u2009mm for 6-DOF. Second, cadaver studies were conducted using mobile radiographs acquired in three anatomical regions (thorax, abdomen and pelvis) and three levels of source-detector distance (~800, ~1000 and ~1200\u2009mm). The 9-DOF method achieved a median PDE of 0.49\u2009mm (compared to 2.53\u2009mm for the 6-DOF method) and demonstrated robustness in the unconstrained imaging geometry. Finally, a retrospective clinical study was conducted with intraoperative radiographs of the spine exhibiting real anatomical deformation and image content mismatch (e.g. interventional devices in the radiograph that were not in the CT), demonstrating a PDE = 1.1\u2009mm for the 9-DOF approach. Average computation time was 48.5\u2009s, involving 687\u2009701 function evaluations on average, compared to 18.2\u2009s for the 6-DOF method. Despite the greater computational load, the 9-DOF method may offer a valuable tool for target localization (e.g. decision support in level counting) as well as safety and quality assurance checks at the conclusion of a procedure (e.g. overlay of planning data on the radiograph for verification of the surgical product) in a manner consistent with natural surgical workflow.<\/jats:p>","DOI":"10.1088\/0031-9155\/60\/5\/2075","type":"journal-article","created":{"date-parts":[[2015,2,12]],"date-time":"2015-02-12T12:11:49Z","timestamp":1423743109000},"page":"2075-2090","update-policy":"https:\/\/doi.org\/10.1088\/crossmark-policy","source":"Crossref","is-referenced-by-count":39,"title":["3D\u20132D registration in mobile radiographs: algorithm development and preliminary clinical evaluation"],"prefix":"10.1088","volume":"60","author":[{"given":"Yoshito","family":"Otake","sequence":"first","affiliation":[{"name":"Johns Hopkins University"},{"name":"Johns Hopkins University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Adam S","family":"Wang","sequence":"additional","affiliation":[{"name":"Johns Hopkins University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ali","family":"Uneri","sequence":"additional","affiliation":[{"name":"Johns Hopkins University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Gerhard","family":"Kleinszig","sequence":"additional","affiliation":[{"name":"Siemens Healthcare XP Division"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sebastian","family":"Vogt","sequence":"additional","affiliation":[{"name":"Siemens Healthcare XP Division"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Nafi","family":"Aygun","sequence":"additional","affiliation":[{"name":"Johns Hopkins University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Sheng-fu L","family":"Lo","sequence":"additional","affiliation":[{"name":"Johns Hopkins University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jean-Paul","family":"Wolinsky","sequence":"additional","affiliation":[{"name":"Johns Hopkins University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ziya L","family":"Gokaslan","sequence":"additional","affiliation":[{"name":"Johns Hopkins University"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jeffrey H","family":"Siewerdsen","sequence":"additional","affiliation":[{"name":"Johns Hopkins University"},{"name":"Johns Hopkins University"},{"name":"Johns Hopkins University"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"266","published-online":{"date-parts":[[2015,2,12]]},"reference":[{"key":"pmb507923bib001","doi-asserted-by":"publisher","first-page":"509","DOI":"10.1145\/361002.361007","type":"journal-article","article-title":"Multidimensional binary search trees used for associative searching","volume":"18","author":"Bentley","year":"1975","journal-title":"Commun. ACM"},{"key":"pmb507923bib002","doi-asserted-by":"publisher","first-page":"3420","DOI":"10.1118\/1.3157111","type":"journal-article","article-title":"Stochastic rank correlation: a robust merit function for 2D\/3D registration of image data obtained at different energies","volume":"36","author":"Birkfellner","year":"2009","journal-title":"Med. Phys."},{"key":"pmb507923bib003","doi-asserted-by":"publisher","first-page":"557","DOI":"10.1109\/TMI.2007.911474","type":"journal-article","article-title":"Geometric variability of the scoliotic spine using statistics on articulated shape models","volume":"27","author":"Boisvert","year":"2008","journal-title":"IEEE Trans. Med. Imaging"},{"key":"pmb507923bib004","doi-asserted-by":"publisher","first-page":"968","DOI":"10.1118\/1.1869652","type":"journal-article","article-title":"Accurate technique for complete geometric calibration of cone-beam computed tomography systems","volume":"32","author":"Cho","year":"2005","journal-title":"Med. Phys."},{"key":"pmb507923bib005","doi-asserted-by":"publisher","first-page":"6484","DOI":"10.1118\/1.4754589","type":"journal-article","article-title":"Robust methods for automatic image-to-world registration in cone-beam CT interventional guidance","volume":"39","author":"Dang","year":"2012","journal-title":"Med. Phys."},{"key":"pmb507923bib006","doi-asserted-by":"publisher","first-page":"75","DOI":"10.1007\/3-540-32494-1_4","type":"book","article-title":"The CMA evolution strategy: a comparing review","volume":"vol 192","author":"Hansen","year":"2006"},{"key":"pmb507923bib007","article-title":"Method and means for recognizing complex patterns","author":"Hough","year":"1962","type":"patent"},{"key":"pmb507923bib008","doi-asserted-by":"publisher","first-page":"671","DOI":"10.1126\/science.220.4598.671","type":"journal-article","article-title":"Optimization by simulated annealing","volume":"220","author":"Kirkpatrick","year":"1983","journal-title":"Science"},{"key":"pmb507923bib009","first-page":"115","type":"journal-article","article-title":"A flexible approach for the calibration of biplanar radiography of the spine on conventional radiological systems","volume":"60","author":"Moura","year":"2010","journal-title":"Comput. Model. Eng. Sci."},{"key":"pmb507923bib010","doi-asserted-by":"publisher","first-page":"924","DOI":"10.1016\/j.medengphy.2011.03.007","type":"journal-article","article-title":"Fast 3D reconstruction of the spine from biplanar radiographs using a deformable articulated model","volume":"33","author":"Moura","year":"2011","journal-title":"Med. Eng. Phys."},{"key":"pmb507923bib011","doi-asserted-by":"publisher","first-page":"4555","DOI":"10.1118\/1.3213531","type":"journal-article","article-title":"2D\u20133D registration for prostate radiation therapy based on a statistical model of transmission images","volume":"36","author":"Munbodh","year":"2009","journal-title":"Med. Phys."},{"key":"pmb507923bib012","doi-asserted-by":"publisher","first-page":"308","DOI":"10.1093\/comjnl\/7.4.308","type":"journal-article","article-title":"A simplex method for function minimization","volume":"7","author":"Nelder","year":"1965","journal-title":"Comput. J."},{"key":"pmb507923bib013","doi-asserted-by":"publisher","first-page":"948","DOI":"10.1109\/TMI.2011.2176555","type":"journal-article","article-title":"Intraoperative image-based multiview 2D\/3D registration for image-guided orthopaedic surgery: incorporation of fiducial-based C-arm tracking and GPU-acceleration","volume":"31","author":"Otake","year":"2012","journal-title":"IEEE Trans. Med. Imaging"},{"key":"pmb507923bib014","doi-asserted-by":"publisher","first-page":"23","DOI":"10.1007\/978-3-642-13711-2_3","type":"book","article-title":"An iterative framework for improving the accuracy of intraoperative intensity-based 2D\/3D registration for image-guided orthopedic surgery","volume":"vol 6135","author":"Otake","year":"2010"},{"key":"pmb507923bib015","first-page":"185","type":"other","article-title":"Verification of surgical product and detection of retained foreign bodies using 3D\u20132D registration in intraoperative mobile radiographs paper presented at the","author":"Otake","year":"2013a"},{"key":"pmb507923bib016","doi-asserted-by":"crossref","first-page":"8535","DOI":"10.1088\/0031-9155\/58\/23\/8535","type":"journal-article","article-title":"Robust 3D\u20132D image registration: application to spine interventions and vertebral labeling in the presence of anatomical deformation","volume":"58","author":"Otake","year":"2013b","journal-title":"Phys. Med. Biol."},{"key":"pmb507923bib017","doi-asserted-by":"publisher","first-page":"312","DOI":"10.5435\/JAAOS-21-05-312","type":"journal-article","article-title":"Wrong-site spine surgery","volume":"21","author":"Palumbo","year":"2013","journal-title":"J. Am. Acad. Orthop. Surg."},{"key":"pmb507923bib018","doi-asserted-by":"publisher","first-page":"586","DOI":"10.1109\/42.730403","type":"journal-article","article-title":"A comparison of similarity measures for use in 2D\u20133D medical image registration","volume":"17","author":"Penney","year":"1998","journal-title":"IEEE Trans. Med. Imaging"},{"key":"pmb507923bib019","doi-asserted-by":"publisher","first-page":"155","DOI":"10.1093\/comjnl\/7.2.155","type":"journal-article","article-title":"An efficient method for finding the minimum of a function of several variables without calculating derivatives","volume":"7","author":"Powell","year":"1964","journal-title":"Comput. J."},{"key":"pmb507923bib020","doi-asserted-by":"publisher","first-page":"151","DOI":"10.1007\/978-3-540-39701-4_16","type":"book","article-title":"Evaluation of intensity-based 2D\u20133D spine image registration using clinical gold-standard data","volume":"vol 2717","author":"Russakoff","year":"2003"},{"key":"pmb507923bib021","doi-asserted-by":"publisher","first-page":"2077","DOI":"10.1007\/s10439-013-0822-6","type":"journal-article","article-title":"An integrated system for 3D hip joint reconstruction from 2D x-rays: a preliminary validation study","volume":"41","author":"Schumann","year":"2013","journal-title":"Ann. Biomed. Eng."},{"key":"pmb507923bib022","doi-asserted-by":"publisher","first-page":"252","DOI":"10.1118\/1.595715","type":"journal-article","article-title":"Fast calculation of the exact radiological path for a 3D CT array","volume":"12","author":"Siddon","year":"1985","journal-title":"Med. Phys."},{"key":"pmb507923bib023","doi-asserted-by":"publisher","first-page":"4795","DOI":"10.1118\/1.4736827","type":"journal-article","article-title":"Fast DRR generation for 2D to 3D registration on GPUs","volume":"39","author":"Tornai","year":"2012","journal-title":"Med. Phys."},{"key":"pmb507923bib024","doi-asserted-by":"crossref","first-page":"271","DOI":"10.1088\/0031-9155\/59\/2\/271","type":"journal-article","article-title":"3D\u20132D registration for surgical guidance: effect of projection view angles on registration accuracy","volume":"59","author":"Uneri","year":"2013","journal-title":"Phys. Med. Biol."},{"key":"pmb507923bib025","doi-asserted-by":"publisher","first-page":"5329","DOI":"10.1088\/0031-9155\/59\/18\/5329","type":"journal-article","article-title":"Evaluation of low-dose limits in 3D\u20132D registration for surgical guidance","volume":"59","author":"Uneri","year":"2014","journal-title":"Phys. Med. Biol."},{"key":"pmb507923bib026","doi-asserted-by":"publisher","first-page":"1177","DOI":"10.1109\/TMI.2005.853240","type":"journal-article","article-title":"Standardized evaluation methodology for 2D\u20133D registration","volume":"24","author":"van de Kraats","year":"2005","journal-title":"IEEE Trans. Med. Imaging"},{"key":"pmb507923bib027","doi-asserted-by":"publisher","first-page":"387","DOI":"10.1109\/TMI.2012.2227337","type":"journal-article","article-title":"Increasing the automation of a 2D\u20133D registration system","volume":"32","author":"Varnavas","year":"2013","journal-title":"IEEE Trans. Med. Imaging"},{"key":"pmb507923bib028","doi-asserted-by":"publisher","first-page":"1954","DOI":"10.1109\/TBME.2013.2246788","type":"journal-article","article-title":"3D reconstruction of the spine from biplanar radiographs based on contour matching using the Hough transform","volume":"60","author":"Zhang","year":"2013","journal-title":"IEEE Trans. Biomed. Eng."},{"key":"pmb507923bib029","doi-asserted-by":"publisher","first-page":"1424","DOI":"10.1118\/1.3327453","type":"journal-article","article-title":"Statistical shape model-based reconstruction of a scaled, patient-specific surface model of the pelvis from a single standard AP x-ray radiograph","volume":"37","author":"Zheng","year":"2010","journal-title":"Med. Phys."},{"key":"pmb507923bib030","doi-asserted-by":"publisher","first-page":"236","DOI":"10.1016\/j.cmpb.2009.02.009","type":"journal-article","article-title":"HipMatch: an object-oriented cross-platform program for accurate determination of cup orientation using 2D\u20133D registration of single standard x-ray radiograph and a CT volume","volume":"95","author":"Zheng","year":"2009","journal-title":"Comput. Methods Programs Biomed."}],"container-title":["Physics in Medicine &amp; Biology"],"original-title":[],"link":[{"URL":"http:\/\/stacks.iop.org\/0031-9155\/60\/i=5\/a=2075\/pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"http:\/\/stacks.iop.org\/0031-9155\/60\/i=5\/a=2075?key=crossref.4809ea33e7914d6bbe668e1403fef65c","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/0031-9155\/60\/5\/2075","content-type":"text\/html","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/0031-9155\/60\/5\/2075\/pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/0031-9155\/60\/5\/2075\/pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"syndication"},{"URL":"http:\/\/stacks.iop.org\/0031-9155\/60\/i=5\/a=2075\/pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"},{"URL":"http:\/\/stacks.iop.org\/0031-9155\/60\/i=5\/a=2075?key=crossref.4809ea33e7914d6bbe668e1403fef65c","content-type":"text\/html","content-version":"vor","intended-application":"similarity-checking"},{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/0031-9155\/60\/5\/2075\/pdf","content-type":"application\/pdf","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,10,10]],"date-time":"2026-10-10T13:32:24Z","timestamp":1791639144000},"score":1,"resource":{"primary":{"URL":"https:\/\/iopscience.iop.org\/article\/10.1088\/0031-9155\/60\/5\/2075"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2015,2,12]]},"references-count":30,"journal-issue":{"issue":"5","published-online":{"date-parts":[[2015,2,12]]},"published-print":{"date-parts":[[2015,3,7]]}},"URL":"https:\/\/doi.org\/10.1088\/0031-9155\/60\/5\/2075","relation":{},"ISSN":["0031-9155","1361-6560"],"issn-type":[{"value":"0031-9155","type":"print"},{"value":"1361-6560","type":"electronic"}],"subject":[],"published":{"date-parts":[[2015,2,12]]},"assertion":[{"value":"3D\u20132D registration in mobile radiographs: algorithm development and preliminary clinical evaluation","name":"article_title","label":"Article Title"},{"value":"Physics in Medicine & Biology","name":"journal_title","label":"Journal Title"},{"value":"paper","name":"article_type","label":"Article Type"},{"value":"\u00a9 2015 Institute of Physics and Engineering in Medicine. All rights, including for text and data mining, AI training, and similar technologies, are reserved.","name":"copyright_information","label":"Copyright Information"},{"value":"2014-04-30","name":"date_received","label":"Date Received","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2014-12-24","name":"date_accepted","label":"Date Accepted","group":{"name":"publication_dates","label":"Publication dates"}},{"value":"2015-02-12","name":"date_epub","label":"Online publication date","group":{"name":"publication_dates","label":"Publication dates"}}]}}