Evaluation of a multi-modal passive and active tracking approach for real-time automatic scan plane alignment in interventional MRI

MR-guided percutaneous interventions require accurate scan plane positioning. A multi-modal tracking workflow is developed combining an MR-image based (passive marker) detection with an RGB-D sensor (active) approach for automatic scan-plane alignment in real-time. This work aims at combining the high frame rate of the RGB-D sensor with the precision of MR-image based tracking through dynamic data fusion using an Information filter. That workflow does not require an explicit registration step and is robust against missing data (e.g. marker detection failure in one modality). Promising experimental tracking results are obtained with free-hand motion.

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