Three-dimensional image registration of phantom vertebrae for image-guided surgery: A preliminary study

Abstract

of Biomedical Engineering (D.iV1.M.) Westem New Englnnd CoIIege, Sp?in&eki, iMassacbzlsetts ABSTRACT Objective: Applications of three-dimensional ultrasound (3D US) are emerging throughout the field of medicine. In this study, tracked, fi-ee-hand 3D phantom US images were mapped to computed tomograms (CT) as a development for image-guided surgery (IGS) of the spine. In the operating room, the registration of tracked 3D US images to other imaging modalities, such as CT, could allow the surgeon to identlfy more precisely the surgical target area prior to the incision. An independent quantitative measure of registration accuracy using a fiducial marker system was provided.Methods: Three-dimensional free-hand US images of a phantom spine were created by tracking the transducer with an optical sensing system. Two sets of images were acquired from three lumbar vertebrae using 4.5-and 7.5-hmz transducers. These images were then segmented for the extraction of the posterior vertebral surface. Next, a surface-based registration of US to the corresponding segmented CT images was performed. Registration errors were computed as the distance between a set of target points transformed using the experimental transformation and the same set of target points transformed using fiducial markers as a gold standard.Results: Results indicated that alignment of these image sets is feasible using only part of the vertebral surface. In particular, the regions of the spinous process and laminae were used for registration.Target registration errors (IRES) were found to be lowest using the highest resolution CT images.Using the CT scans with 2-mm slice thickness, the TRE was calculated to be 1.33 k 0.30 mm for the 7.5-MHz US data set and 2.81 f . 0.10 mm for the 4.5-MHz US data set. Moreover, residual errors in these d c e alignments were 0.69 f 0.18 mm and 0.61 f . 0.20 mm for the 4.5-and 7.5-MHz sets, respectively. Conclusion: A rigid, surface-based registration of C T images to phantom spinal US images, acquired with a free-hand, tracked transducer, is achievable with a limited, easily obtainable portion of the vertebral surface. Comp Aid Surg 7:312-352 (2002). 02003 WiIey-Liss. Inc.

DRAMMS: Deformable registration via attribute matching and mutual-saliency weighting

“…It is the building block for a variety of medical image analysis tasks, such as motion correction (e.g. [Zuo et al, 1996; Bai and Brady, 2009]), multi-modality information fusion (e.g., [Meyer et al, 1997; Verma et al, 2008]), atlas-based image segmentation (e.g., [Prastawa et al, 2005; Lawes et al, 2008; Gee et al, 1993]), population studies (e.g., [Geng et al, 2009; Sotiras et al, 2009; Ou et al, 2009b; Zollei et al, 2005]), longitudinal studies (e.g., [Csapo et al, 2007; Shen and Davatzikos, 2004; Xue et al, 2006]), computational anatomy (e.g., [Joshi et al, 2004; Ashburner, 2007; Leow et al, 2007; Thompson and Apostolova, 2007]) and image-guided surgery (e.g., [Muratore et al, 2003; Gering et al, 2001; Hata et al, 1998]). During the past two decades, a large number of deformable (non-rigid) image registration methods have been developed, and several thorough reviews can be found in [Maintz and Viergever, 1998; Lester and Arridge, 1999; Hill et al, 2001; Zitova and Flusser, 2003; Pluim et al, 2003; Crum et al, 2004; Holden, 2008].…”

A framework for human spine imaging using a freehand 3D ultrasound system

“…In a sagittal slice, a string of transverse processes appeared representing the curvature of the spine. They are comparable to the ultrasound images shown in [3,16]. The appearance of the vertebral features is necessary to enable determination of the position and orientation of each vertebra in 3D space and the curvature of the spine.…”

“…Hunerbein [9] used ultrasound to scan tissues and bone lesion, Muratore [16] focused their experiment on a vertebral phantom for the registration, and Brendel [2] performed the registration of ultrasound images of 4 lumbar vertebrae with the CT images of the same person. Scanning the large part of the spine instead of a few vertebrae as presented in this paper is more complicated.…”

Augmenting Surgery via Multi-scale Modeling and Translational Systems Biology in the Era of Precision Medicine: A Multidisciplinary Perspective

“…Similarly, vertebral shapes can be extracted from tracked intraoperative images such as ultrasound and stereovision. Image-to-physical space registration is then achieved when the vertebrae are registered between intra- and pre-operative images, using either feature- 54, 55, 82 or intensity-based 42, 63 techniques. A biomechanical model can also be used to constrain the registration 42 .…”