An instantiability index for intra-operative tracking of 3D anatomy and interventional devices

The tracking of tissue deformation, imaging probes and surgical instruments is an integral part of intra-operative surgical guidance. While the recent introduction of shape instantiation provides a systematic framework for tracking 3D anatomy in real-time, deviations to the desired imaging location can affect the accuracy of the predicted shape. To examine the sensitivity of the prescribed image planes to such errors, we introduce in this paper a new Instantiability Index for providing the intrinsic level of robustness while using such scan planes for the tracking of anatomy and interventional devices. Optimisation of the Index is applied to 3D anatomical reconstruction and the localisation of an intraoperative imaging device. Results are shown on detailed phantom experiments for both real-time 3D shape instantiation and imaging catheter tracking.