Automatic Registration between Cone-Beam CT and Scanned Surface via Deep-Pose Regression Neural Networks and Clustered Similarities

Computerized registration between maxillofacial cone-beam computed tomography (CT) images and a scanned dental model is an essential prerequisite for surgical planning for dental implants or orthognathic surgery. We propose a novel method that performs fully automatic registration between a cone-beam CT image and an optically scanned model. To build a robust and automatic initial registration method, deep pose regression neural networks are applied in a reduced domain (i.e., two-dimensional image). Subsequently, fine registration is performed using optimal clusters. A majority voting system achieves globally optimal transformations while each cluster attempts to optimize local transformation parameters. The coherency of clusters determines their candidacy for the optimal cluster set. The outlying regions in the iso-surface are effectively removed based on the consensus among the optimal clusters. The accuracy of registration is evaluated based on the Euclidean distance of 10 landmarks on a scanned model, which have been annotated by experts in the field. The experiments show that the registration accuracy of the proposed method, measured based on the landmark distance, outperforms the best performing existing method by 33.09%. In addition to achieving high accuracy, our proposed method neither requires human interactions nor priors (e.g., iso-surface extraction). The primary significance of our study is twofold: 1) the employment of lightweight neural networks, which indicates the applicability of neural networks in extracting pose cues that can be easily obtained and 2) the introduction of an optimal cluster-based registration method that can avoid metal artifacts during the matching procedures.