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

Yan, Charles X. B.; Goulet, Benoît; Pelletier, Julie; Chen, Sean Jy-Shyang; Tampieri, Donatella; Collins, D. Louis

doi:10.1007/s11548-010-0536-2

Cited by 48 publications

(17 citation statements)

References 57 publications

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“…The method was validated using both dry bone specimen and porcine cadaver, and compared with 3 registration methods reported in the literature. Unlike other validation studies 8,25,35,36 which randomly generated initial misalignments within certain limit from the ground truth to evaluate the accuracy and robustness of their registration CT-ultrasound approaches, we opted to determine an initial guess using the actual measurement protocol (i.e., landmark-based registration) so that the real performance of the hierarchical registration method can be better evaluated. Results of our validation experiments demonstrated that the hierarchical CT-ultrasound registration is the only method that is accurate and robust under both experimental conditions.…”

Section: Discussionmentioning

confidence: 99%

“…The re-scaled 3D ultrasound dataset is also processed by a backward ray tracing method 35 to extract the pixels around the posterior vertebral surface.…”

Section: D Ultrasoundmentioning

confidence: 99%

“…Porcine spine was chosen as it is anatomically and functionally similar to the human spine and is frequently used as a substitute in experiments involving spine fusion and instrumentation technique. 4,35 Human Dry Bone Specimen A human dry bone specimen (T12-L5) (The Bone Room, Berkeley, CA) was positioned to overlap at their facet joints and secured inside a plastic box to mimic a realistic in situ scenario (Fig. 4).…”

Section: Experimental Validationmentioning

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: 99%

“…The re-scaled 3D ultrasound dataset is also processed by a backward ray tracing method 35 to extract the pixels around the posterior vertebral surface.…”

Section: D Ultrasoundmentioning

confidence: 99%

Section: Experimental Validationmentioning

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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“…The simplest form of ultrasound-guided needle insertion is a visualization of the needle path, which is calibrated to a guide rigidly attached to the transducer, on the live 2D image [11,12]. Since such approaches do not alleviate limited target visibility and poor contrast issues, optical or electromagnetic tracking systems were introduced, allowing for freehand 3D acquisitions that can be registered to preoperative imaging data such as CT [13,14]. Assuming that the patient has not moved, features such as vertebrae contours can be then highlighted on the live US image along with the insertion path of a tool, which is also coupled with a tracking target.…”

Section: Related Workmentioning

confidence: 99%

3D ultrasound registration-based visual servoing for neurosurgical navigation

et al. 2017

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Purpose We present a fully image-based visual servoing framework for neurosurgical navigation and needle guidance. The proposed servo-control scheme allows for compensation of target anatomy movements, maintaining high navigational accuracy over time, and automatic needle guide alignment for accurate manual insertions. Method Our system comprises a motorized 3D ultrasound (US) transducer mounted on a robotic arm and equipped with a needle guide. It continuously registers US sweeps in real time with a pre-interventional plan based on CT or MR images and annotations. While a visual control law maintains anatomy visibility and alignment of the needle guide, a force controller is employed for acoustic coupling and tissue pressure. We validate the servoing capabilities of our method on a geometric gel phantom and real human anatomy, and the needle targeting accuracy using CT images on a lumbar spine gel phantom under neurosurgery conditions. Results Despite the varying resolution of the acquired Oliver Zettinig and Benjamin Frisch have contributed equally to this work. Yu-Mi Ryang and Nassir Navab have contributed equally to this work.B Oliver Zettinig 3D sweeps, we achieved direction-independent positioning errors of 0.35±0.19 mm and 0.61 • ±0.45 • , respectively. Our method is capable of compensating movements of around 25 mm/s and works reliably on human anatomy with errors of 1.45 ± 0.78 mm. In all four manual insertions by an expert surgeon, a needle could be successfully inserted into the facet joint, with an estimated targeting accuracy of 1.33±0.33 mm, superior to the gold standard. Conclusion The experiments demonstrated the feasibility of robotic ultrasound-based navigation and needle guidance for neurosurgical applications such as lumbar spine injections.

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“…Over the past two decades, several research groups have attempted to tackle this challenging problem [6][7][8]11,12,19,22,23]. To the best of our knowledge, these approaches have been validated either on single vertebra registration or on phantom and cadaver experiments.…”

Section: Introductionmentioning

confidence: 99%

A multi-vertebrae CT to US registration of the lumbar spine in clinical data

et al. 2015

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

Abstract: Our registration technique demonstrates good accuracy and robustness under clinically realistic conditions and thus warrants further studies on its surgical application.

Cited by 48 publications

References 57 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

3D ultrasound registration-based visual servoing for neurosurgical navigation

A multi-vertebrae CT to US registration of the lumbar spine in clinical data

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