Rigid Registration of Freehand 3D Ultrasound and CT-Scan Kidney Images

Abstract

Abstract. This paper presents a method to register a preoperative CT volume to a sparse set of intraoperative US slices. In the context of percutaneous renal puncture, the aim is to transfer a planning information to an intraoperative coordinate system. The spatial position of the US slices is measured by localizing a calibrated probe. Our method consists in optimizing a rigid 6 degree of freedom (DOF) transform by evaluating at each step the similarity between the set of US images and the CT volume. The images have been preprocessed in order to increase the relationship between CT and US pixels. Correlation Ratio turned out to be the most accurate and appropriate similarity measure to be used in a Powell-Brent minimization scheme. Results are compared to a standard rigid point-to-point registration involving segmentation, and discussed.

Automatic Registration and Fusion of Ultrasound with CT for Radiotherapy

“…This compressed region is very distinct from the remaining anatomical structures, its size (3.6mm) being consistent on all data we obtained from patients ( figure 1). This ROI definition is similar to the ones used in [8] and [9].…”

“…A registration involving an automatic mapping of MR and Ultrasound data to Vessel probability values and successive registration of this information is proposed in [8]. Using a CT data of a kidney, where the intensity values are enhanced with strong edges from the gradient, a registration with freehand 3D ultrasound is performed in [9]. Voxel-based registration of MRA scans with Power Doppler ultrasound has been evaluated in [10].…”

Simulation and Fully Automatic Multimodal Registration of Medical Ultrasound

“…in [1], image-based registration of MRI to 3DUS is achieved by using both MRI intensity and gradient information in a similarity criterion based on Correlation Ratio. Automatic registration on a single kidney CT/US data using Correlation Ratio as well, here by enhancing the CT intensities with major boundaries, is done in [2]. In [3], both MRI and US are remapped to an intermediate vessel probability representation using training data sets, then cross-correlation is used as similarity measure.…”

Image Guidance of Intracardiac Ultrasound with Fusion of Pre-operative Images

“…Penney et al [5] propose to register a set of ultrasound slices and a MR volume of a liver by converting them to vessel probability images. In [6], US and CT kidney images are rigidly registered. Wein et al [7] register the ultrasound images to a CT scan on neck data of patients.…”