Cadaver validation of intensity-based ultrasound to CT registration

A method is presented for the registration of tracked B-mode ultrasound images to a CT volume of a femur or pelvis. This registration can allow tracked surgical instruments to be aligned with the CT image or an associated preoperative plan. Our method requires no manual segmentation of either the ultrasound images or the CT volume. The CT and US images are processed to produce images where the image intensity represents the probability of the presence of a bone edge. These images are then registered together using normalised cross-correlation as a similarity measure. The parameter which represents the speed of sound through tissue has also been included in the registration optimisation process. Experiments have been carried out on six cadaveric femurs and three cadaveric pelves. Registration results were compared with a "gold standard" registration acquired using bone implanted fiducial markers. Results show the registration method to be accurate, on average, to 1.7 mm root-mean-square target registration error.

[1]  T. Ault.  Frameless Patient Registration Using Ultrasonic Imaging , 1995 .

[2]  J. Fitzpatrick,et al.  Medical image processing and analysis , 2000 .

[3]  Yohan Payan,et al.  Rigid Registration of Freehand 3D Ultrasound and CT-Scan Kidney Images , 2004, MICCAI.

[4]  T. Kanade,et al.  Ultrasound Registration of the Bone Surface for Surgical Navigation , 2003, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[5]  William H. Press,et al.  Numerical recipes in C , 2002 .

[6]  David J. Hawkes,et al.  Registration of freehand 3D ultrasound and magnetic resonance liver images , 2004, Medical Image Anal..

[7]  Benoit M. Dawant,et al.  Retrospective intermodality registration techniques for images of the head: surface-based versus volume-based , 1999, IEEE Transactions on Medical Imaging.

[8]  Anthony M DiGioia,et al.  The challenges for CAOS: what is the role of CAOS in orthopaedics? , 2002, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[9]  Richard A Berger,et al.  Total Hip Arthroplasty Using the Minimally Invasive Two-Incision Approach , 2003, Clinical orthopaedics and related research.

[10]  C. Bach,et al.  Knee pain caused by a fiducial marker in the medial femoral condyle: A clinical and anatomic study of 20 cases , 2001, Acta orthopaedica Scandinavica.

[11]  Jérôme Tonetti,et al.  A Fully Automated Method for the Delineation of Osseous Interface in Ultrasound Images , 2004, MICCAI.

[12]  Richard Szeliski,et al.  Recovering the Position and Orientation of Free-Form Objects from Image Contours Using 3D Distance Maps , 1995, IEEE Trans. Pattern Anal. Mach. Intell..

[13]  S. Winter,et al.  Registration of 3D CT and ultrasound datasets of the spine using bone structures. , 2002, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[14]  Branislav Jaramaz,et al.  CupAlign: Computer-Assisted Postoperative Radiographic Measurement of Acetabular Components Following Total Hip Arthroplasty , 1999, MICCAI.

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

[16]  H Miura,et al.  The accuracy of image-guided knee replacement based on computed tomography. , 2004, The Journal of bone and joint surgery. British volume.

[17]  L. Joskowicz,et al.  Gradient-based 2-D/3-D rigid registration of fluoroscopic X-ray to CT , 2003, IEEE Transactions on Medical Imaging.

[18]  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.

[19]  F. Portheine,et al.  User-interactive registration of bone with A-mode ultrasound , 2005, IEEE Engineering in Medicine and Biology Magazine.

[20]  W. Thiel,et al.  Ergänzung für die Konservierung ganzer Leichen nach W. Thiel , 2002 .

[21]  D C Barratt,et al.  Accuracy of an electromagnetic three-dimensional ultrasound system for carotid artery imaging. , 2001, Ultrasound in medicine & biology.

[22]  L P Nolte,et al.  Restricted surface matching--numerical optimization and technical evaluation. , 2001, Computer aided surgery : official journal of the International Society for Computer Aided Surgery.

[23]  Colin Studholme,et al.  Visual assessment of the accuracy of retrospective registration of MR and CT images of the brain , 1998, IEEE Transactions on Medical Imaging.

[24]  Yan Kang,et al.  A new accurate and precise 3-D segmentation method for skeletal structures in volumetric CT data , 2003, IEEE Transactions on Medical Imaging.

[25]  Robert J. Maciunas,et al.  Registration of head volume images using implantable fiducial markers , 1997, IEEE Transactions on Medical Imaging.

[26]  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.

[27]  W. Bargar,et al.  Primary and Revision Total Hip Replacement Using the Robodoc® System , 1998, Clinical orthopaedics and related research.

[28]  Michael M Morlock,et al.  Comparison of robotic-assisted and manual implantation of a primary total hip replacement. A prospective study. , 2003, The Journal of bone and joint surgery. American volume.

[29]  L. Amiot,et al.  Computed Tomography-Based Navigation for Hip, Knee, and Spine Surgery , 2004, Clinical orthopaedics and related research.

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

[31]  Josien P. W. Pluim,et al.  Image Registration , 2003, IEEE Trans. Medical Imaging.

[32]  Nicholas Ayache,et al.  Rigid registration of 3-D ultrasound with MR images: a new approach combining intensity and gradient information , 2001, IEEE Transactions on Medical Imaging.

[33]  A. Cappozzo,et al.  Pelvis and lower limb anatomical landmark calibration precision and its propagation to bone geometry and joint angles , 1999, Medical & Biological Engineering & Computing.

[34]  F Langlotz,et al.  Computer-Assisted Pelvic Surgery: An In Vitro Study of Two Registration Protocols , 2002, Clinical Orthopaedics and Related Research.

[35]  B Jaramaz,et al.  Image Guided Navigation System to Measure Intraoperatively Acetabular Implant Alignment , 1998, Clinical orthopaedics and related research.

[36]  Branislav Jaramaz,et al.  Mini-incision technique for total hip arthroplasty with navigation. , 2003, The Journal of arthroplasty.

[37]  C. Barbe,et al.  Using 2.5D echography in computer assisted spine surgery , 1993, Proceedings of the 15th Annual International Conference of the IEEE Engineering in Medicine and Biology Societ.

[38]  Peter Kazanzides,et al.  Anatomy-based registration of CT-scan and intraoperative X-ray images for guiding a surgical robot , 1998, IEEE Transactions on Medical Imaging.

[39]  Milan Sonka,et al.  Image Processing, Analysis and Machine Vision , 1993, Springer US.

[40]  Susanne Winter,et al.  Bone registration with 3D CT and ultrasound datasets , 2003, CARS.