Toward Registration of 3D Ultrasound and CT Images of the Spine in Clinical Praxis: Design and Evaluation of a Data Acquisition Protocol

Winter, Susanne; Pechlivanis, Ioannis; Dekomien, Claudia; Igel, Christian; Schmieder, Kirsten

doi:10.1016/j.ultrasmedbio.2009.06.1089

Cited by 20 publications

(15 citation statements)

References 19 publications

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“…34 That would explain why both bias and repeatability of our hierarchical CT-ultrasound registration approach were consistently better on the human dry bone specimen. In ultrasound imaging, a major factor that limits the spatial resolution and visualization of details is the volume of the acoustic pulse.…”

Section: Discussionmentioning

confidence: 92%

“…However, their method requires subjective selection of tuning parameters and it is not known whether it would work satisfactorily if speckle noise and artifact are severe. 34 We overcome this problem by only extracting those pixels in the vicinity of the posterior surfaces of a vertebra and assigning the gray value of the rest of ultrasound pixels to zero. It is worth mentioning that the extracted pixels are by no means an accurate representation of the posterior vertebral surface.…”

Section: Discussionmentioning

confidence: 99%

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Hierarchical CT to Ultrasound Registration of the Lumbar Spine: A Comparison with Other Registration Methods

Koo

Kwok

2016

Ann Biomed Eng

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Three-dimensional (3D) measurement of the spine can provide important information for functional, developmental, diagnostic, and treatment-effect evaluations. However, existing measurement techniques are either 2-dimensional, highly invasive, or involve a high radiation dose, prohibiting their widespread and repeated use in both research and clinical settings. Non-invasive, non-ionizing, 3D measurement of the spine is still beyond the current state-of-the-art. Towards this goal, we developed an intensity-based hierarchical CT-ultrasound registration approach to quantify the 3D positions and orientations of lumbar vertebrae from 3D freehand ultrasound and one-time computed tomography. The method was validated using a human dry bone specimen (T12-L5) and a porcine cadaver (L2-L6) by comparing the registration results with a gold standard fiducial-based registration. Mean (SD) target registration error and percentage of successful registration were 1.2 (0.6) mm and 100% for the human dry bone specimen, and 2.18 (0.82) mm and 92% for the porcine cadaver, indicating that the method is accurate and robust under clinically realistic conditions. Given that the use of ultrasound eliminates ionizing radiation during pose measurements, we believe that the hierarchical CT-ultrasound registration method is an attractive option for quantifying 3D poses of individual vertebra and motion segment, and thus warrants further investigations.

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Section: Discussionmentioning

confidence: 92%

Section: Discussionmentioning

confidence: 99%

Hierarchical CT to Ultrasound Registration of the Lumbar Spine: A Comparison with Other Registration Methods

Koo

Kwok

2016

Ann Biomed Eng

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“…The main advantage of this model is that only two parameters, namely the slope m and the intercept of angular value q c , are required to control the amount of bending. Therefore, to conform to different parts of the navigation channel, the joint values Δq are modeled and adjusted by the two variables (m, q c ) according to (10) Assuming the robot is in a straight configuration when , we can derive the end-effector position l x eff ∈ ℜ 3 relative to the link frame given by Δq e as follows: (11) The corresponding displacement of the end-effector can then be expressed as follows: (12) With m = 0 and a small value ±ε assigned to q c , we have (13) Fig. 4(b) shows that the two resultant configurations are bending in opposite directions.…”

Section: ) Characterization Of Robotmentioning

confidence: 99%

Dimensionality Reduction in Controlling Articulated Snake Robot for Endoscopy Under Dynamic Active Constraints

et al. 2013

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This paper presents a real-time control framework for a snake robot with hyper-kinematic redundancy under dynamic active constraints for minimally invasive surgery. A proximity query (PQ) formulation is proposed to compute the deviation of the robot motion from predefined anatomical constraints. The proposed method is generic and can be applied to any snake robot represented as a set of control vertices. The proposed PQ formulation is implemented on a graphic processing unit, allowing for fast updates over 1 kHz. We also demonstrate that the robot joint space can be characterized into lower dimensional space for smooth articulation. A novel motion parameterization scheme in polar coordinates is proposed to describe the transition of motion, thus allowing for direct manual control of the robot using standard interface devices with limited degrees of freedom. Under the proposed framework, the correct alignment between the visual and motor axes is ensured, and haptic guidance is provided to prevent excessive force applied to the tissue by the robot body. A resistance force is further incorporated to enhance smooth pursuit movement matched to the dynamic response and actuation limit of the robot. To demonstrate the practical value of the proposed platform with enhanced ergonomic control, detailed quantitative performance evaluation was conducted on a group of subjects performing simulated intraluminal and intracavity endoscopic tasks.

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“…The ultrasound images are subsequently registered to the CT images so that the patient anatomies in the ultrasound can be matched to those in the CT image. Several groups have investigated ultrasound-CT registration of bone structures at different anatomical regions, such as the femurs [21][22][23][24][25], the pelvis [23,24,[26][27][28][29][30][31][32][33][34], or the vertebrae [27,[35][36][37][38][39][40][41][42][43][44].…”

Section: Introductionmentioning

confidence: 99%

“…For live human subjects, given that the vertebral column is a region of the utmost importance, it would be unethical to implant fiducials in patient vertebrae purely for research purposes. In a more recent study, Winter et al [43] developed an ultrasound acquisition protocol using actual patient images. The proposed ground truth employed for validation was generated by running through 50 cycles of the same registration technique being validated, effectively generating quantitative results that demonstrate the precision of the registration technique instead of its accuracy.…”

Section: Introductionmentioning

confidence: 99%

Towards accurate, robust and practical ultrasound-CT registration of vertebrae for image-guided spine surgery

et al. 2010

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Toward Registration of 3D Ultrasound and CT Images of the Spine in Clinical Praxis: Design and Evaluation of a Data Acquisition Protocol

Cited by 20 publications

References 19 publications

Hierarchical CT to Ultrasound Registration of the Lumbar Spine: A Comparison with Other Registration Methods

Hierarchical CT to Ultrasound Registration of the Lumbar Spine: A Comparison with Other Registration Methods

Dimensionality Reduction in Controlling Articulated Snake Robot for Endoscopy Under Dynamic Active Constraints

Towards accurate, robust and practical ultrasound-CT registration of vertebrae for image-guided spine surgery

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