Robust automatic rigid registration of MRI and X-ray using external fiducial markers for XFM-guided interventional procedures

Purpose: In X‐ray fused with MRI , previously gathered roadmap MRI volume images are overlaid on live X‐ray fluoroscopy images to help guide the clinician during an interventional procedure. The incorporation of MRI data allows for the visualization of soft tissue that is poorly visualized under X‐ray. The widespread clinical use of this technique will require fully automating as many components as possible. While previous use of this method has...