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Hybrid 2D–3D ultrasound registration for navigated prostate biopsy

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

We present a hybrid 2D–3D ultrasound (US) rigid registration method for navigated prostate biopsy that enables continuous localization of the biopsy trajectory during the exam.

Methods

Current clinical computer-assisted biopsy systems use either sensor-based or image-based approaches. We combine the advantages of both in order to obtain an accurate and real-time navigation based only on an approximate localization of the US probe. Starting with features extracted in both 2D and 3D images, our method introduces a variant of the iterative closest point (ICP) algorithm. Among other differences to ICP, a combination of both the euclidean distance of feature positions and the similarity distance of feature descriptors is used to find matches between 2D and 3D features. The evaluation of the method is twofold. First, an analysis of variance on input parameters is conducted to estimate the sensitivity of our method to their initialization. Second, for a selected set of their values, the target registration error (TRE) was calculated on 29,760 (resp. 4000) registrations in two different experiments. It was obtained using manually identified anatomical fiducials.

Results

For 160 US volumes, from 20 patients, recorded during routine biopsy procedures performed in two hospitals by six operators, the mean TRE was \(3.91\pm 3.22\) mm (resp. \(4.37\pm 2.62\) mm).

Conclusion

This work allows envisioning further developments for prostate navigation and their clinical transfer.

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Notes

  1. Cumbersome equipment such as an articulated arm to hold the probe or constraining equipment such as a magnetic localizer that can be perturbed by metallic objects.

  2. For the multi-scale method, the number of features is not preset but depends on image quality or echogenicity and is related to the selected size of the Gaussian.

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Author information

Authors and Affiliations

  1. Univ. Grenoble Alpes, CNRS, CHU Grenoble Alpes, Grenoble INP, TIMC-IMAG, 38000, Grenoble, France

    Sonia-Yuki Selmi, Emmanuel Promayon & Jocelyne Troccaz

Authors
  1. Sonia-Yuki Selmi
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  2. Emmanuel Promayon
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  3. Jocelyne Troccaz
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Corresponding author

Correspondence to Jocelyne Troccaz.

Ethics declarations

Ethical statement

All procedures performed in studies involving human participants were in accordance with the ethical standards of the institutional and/or national research committee and with the 1964 Helsinki Declaration and its later amendments or comparable ethical standards.

Conflict of interest

The authors declare that they have no conflict of interest.

Additional information

We thank Dr. P. Mozer (APHP) and Dr. G. Fiard (CHUGA) for patient data. This work was supported by the French Industry Minister through the FUI program, MIRAS project, and the Investissements d’Avenir programme (Labex CAMI) under reference ANR-11-LABX-0004.

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Selmi, SY., Promayon, E. & Troccaz, J. Hybrid 2D–3D ultrasound registration for navigated prostate biopsy. Int J CARS 13, 987–995 (2018). https://doi.org/10.1007/s11548-018-1736-4

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  • DOI: https://doi.org/10.1007/s11548-018-1736-4

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