DYNAMIC REGISTRATION USING ULTRASOUND FOR ANATOMICAL REFERENCING

This paper proposes methods to circumvent the need to attach physical markers to bones for anatomical referencing in computer-assisted orthopedic surgery. Using ultrasound, a bone could be non-invasively referenced, and so the problem is formulated as the need for dynamic registration. A method for correspondence establishment is presented, and the matching step is based on three least-squares algorithms: two that are typically used in registration methods such as ICP, and the third is a form of the Unscented Kalman filter that was adapted to work in this context. A simulation was developed in order to reliably evaluate and compare the dynamic registration methods

[1]  Paul J. Besl,et al.  A Method for Registration of 3-D Shapes , 1992, IEEE Trans. Pattern Anal. Mach. Intell..

[2]  David J. Hawkes,et al.  Self-calibrating 3D-ultrasound-based bone registration for minimally invasive orthopedic surgery , 2006, IEEE Transactions on Medical Imaging.

[3]  K. S. Arun,et al.  Least-Squares Fitting of Two 3-D Point Sets , 1987, IEEE Transactions on Pattern Analysis and Machine Intelligence.

[4]  Purang Abolmaesumi,et al.  A Novel Incremental Technique for Ultrasound to CT Bone Surface Registration Using Unscented Kalman Filtering , 2005, MICCAI.

[5]  David J. Hawkes,et al.  Cadaver Validation of Intensity-Based Ultrasound to CT Registration , 2005, MICCAI.

[6]  R. Ganz,et al.  Computer-Assisted Orthopedic Surgery (Caos) , 1999 .

[7]  Berthold K. P. Horn,et al.  Closed-form solution of absolute orientation using unit quaternions , 1987 .

[8]  Randy E. Ellis,et al.  Surface-Based Registration with a Particle Filter , 2004, MICCAI.

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