Anisotropic non-rigid Iterative Closest Point Algorithm for respiratory motion abdominal surface matching

Abstract

Surface registration is a one of the crucial and actual problems of computer aided surgery. This paper presents the modification of the non-rigid Iterative Closest Point Algorithm which takes into account an anisotropic noise model and landmarks as guided correspondence at the transformation step in every iteration. The presented approach was validated on human abdominal briefing surface data from a time-of-flight camera. We took the median of the resulting measures and the outcome is presented: the median of means of surfaces distance was at the same level for both variants of the ICP algorithm and is comparable with the isotropic variant, the median of mean landmark position errors decreased by 0.93 units (over 20% improvement) and the median of percentage of single correspondences in target point cloud increased by 11.96%. The results showed that the introduction of the anisotropic model of noise for the ToF camera allows for the improvement the percentage of target cloud points which had only one correspondent over 10% impartment and additional weighting of markers also improves the measure of the quality of finding real correspondents over 20% improvement. In the examined dataset, where the average initial distance between the clouds of points in the inspiratory and expiration is equal to approx. 7.5 mm, a more than 10% improvement in the quality of the correspondence improves the accuracy of matching the surface within 1 mm which is a significant value in application of minimally invasive image guided interventions.

Body surface registration considering individual differences with non-rigid iterative closest point

“…The non-rigid registration has been widely researched in the past decade and can be applied to various dynamic shape reconstruction issues such as human motion capture which is utilized for the applications in VR, AR, and entertainment. Some studies reported to apply non-rigid ICP to the field of biomedical engineering such as tracking of respiratory motion abdominal surface [ 15 , 16 ]. However, there is no research to apply the non-rigid ICP for localizing the specific region on the body surface such as the auscultation area considering the individual difference of body shape.…”