A mutual-information-based registration algorithm for ultrasound-guided computer-assisted orthopaedic surgery

This paper presents a novel approach and its preliminary laboratory results for the employment of ultrasound (US) imaging in intraoperative guidance of computer-assisted orthopaedic surgeries (CAOS). The goal is to register live intraoperative US images with preoperative surgical planning data using minimal number of images. Preoperatively, a set of 2D US images are acquired with the corresponding positional information of the US probe provided by an optical tracking system. Using calibration parameters, the position of every pixel in the acquired images is transformed into the world coordinate frame to construct a 3D volumetric representation of the targeted anatomy for surgical planning. Intraoperatively, the surgeon takes live US images from the patient with the position of the US probe tracked in real time. A mutual-information-based registration algorithm is then used to find the closest match to the live image in the preoperative US image database. Because the position of the preoperative image inside the US volume is known, we are able to register the preoperative US volume to the live image, thus to the patient. Experiments have shown the registration algorithm has sub-millimeter accuracy in localizing the best match between the intraoperative and pre-operative images, demonstrating great potential for orthopaedic surgery applications. This method has some significant advantages over the previously reported US-guided CAOS techniques: it requires no segmentation, and employs only a few intraoperative images to accurately and robustly localize the patient. Preliminary laboratory results on both a Sawbones model of a radius bone and human subjects are presented.

[1]  Michael Unser,et al.  Optimization of mutual information for multiresolution image registration , 2000, IEEE Trans. Image Process..

[2]  Randy E. Ellis,et al.  Robust registration for computer-integrated orthopedic surgery: Laboratory validation and clinical experience , 2003, Medical Image Anal..

[3]  D. Hill,et al.  Medical image registration , 2001, Physics in medicine and biology.

[4]  Guy Marchal,et al.  Automated multi-modality image registration based on information theory , 1995 .

[5]  Stefan Wesarg,et al.  Mutual-information-based registration for ultrasound and CT datasets , 2004, SPIE Medical Imaging.

[6]  Jérôme Tonetti,et al.  Percutaneous Computer Assisted Iliosacral Screwing: Clinical Validation , 2000, MICCAI.

[7]  D.M. Muratore,et al.  Surface-based registration of CT images to physical space for image-guided surgery of the spine: a sensitivity study , 2002, 5th IEEE EMBS International Summer School on Biomedical Imaging, 2002..

[8]  P. Coyte,et al.  Current and projected rates of hip fracture in Canada. , 1997, CMAJ : Canadian Medical Association journal = journal de l'Association medicale canadienne.

[9]  Balraj Naren,et al.  Medical Image Registration , 2022 .

[10]  J. Waterton,et al.  Three-dimensional freehand ultrasound: image reconstruction and volume analysis. , 1997, Ultrasound in medicine & biology.

[11]  Aleh Kryvanos.  Computer assisted surgery for fracture reduction and deformity correction of the pelvis and long bones , 2002 .

[12]  Brian R. Davidson,et al.  A real-time pointer to a preoperative surgical planning index block of ultrasound images for image guided surgery , 2004, IS&T/SPIE Electronic Imaging.

[13]  Stefan Wesarg,et al.  Validation of 3D ultrasound: CT registration of prostate images , 2003, SPIE Medical Imaging.

[14]  R W Prager,et al.  Rapid calibration for 3-D freehand ultrasound. , 1998, Ultrasound in medicine & biology.

[15]  N. Schep,et al.  Computer assisted orthopaedic and trauma surgery. State of the art and future perspectives. , 2003, Injury.

[16]  A system for ultrasound-guided computer-assisted orthopaedic surgery , 2005, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[17]  Max A. Viergever,et al.  Mutual-information-based registration of medical images: a survey , 2003, IEEE Transactions on Medical Imaging.

[18]  N Pagoulatos,et al.  A fast calibration method for 3-D tracking of ultrasound images using a spatial localizer. , 2001, Ultrasound in medicine & biology.

[19]  C R Meyer,et al.  Semiautomatic registration of volumetric ultrasound scans. , 1999, Ultrasound in medicine & biology.

[20]  J Troccaz,et al.  Clinical results of percutaneous pelvic surgery. Computer assisted surgery using ultrasound compared to standard fluoroscopy. , 2001, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[21]  Jürgen Weese,et al.  A comparison of similarity measures for use in 2-D-3-D medical image registration , 1998, IEEE Transactions on Medical Imaging.

[22]  N. Sugano.  Computer-assisted orthopedic surgery , 2003, Journal of orthopaedic science : official journal of the Japanese Orthopaedic Association.

[23]  Dinesh K. Pai,et al.  Direct surface extraction from 3D freehand ultrasound images , 2002, IEEE Visualization, 2002. VIS 2002..

[24]  Marc Levoy,et al.  Efficient variants of the ICP algorithm , 2001, Proceedings Third International Conference on 3-D Digital Imaging and Modeling.

[25]  Jens von Berg,et al.  A hybrid method for registration of interventional CT and ultrasound images , 2004, CARS.

[26]  G. Marchal,et al.  Multi-modal volume registration by maximization of mutual information , 1997 .

[27]  B. Dawant,et al.  Three-dimensional image registration of phantom vertebrae for image-guided surgery: a preliminary study. , 2002, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.