Automatic detection of fiducial markers in fluoroscopy images for on-line calibration

Calibrated C-arm fluoroscopy is used for a variety of medical procedures where objects and anatomical structures need to be located in space. Calibration is often based on imaging a grid of fiducial markers and using the C-arm image's geometrical measurements (radius and center) together with the positions of the markers. An on-line technique is developed to automatically locate the fiducial markers and validated on 97 images. The success rate of the detection algorithm is 96.28% with an average error of 0.46 mm and a standard deviation of 0.32 mm.