Advertisement

Ultrasound-CT registration of vertebrae without reconstruction

  • Charles X. B. Yan
  • Benoît Goulet
  • Donatella Tampieri
  • D. Louis Collins
Original Article

Abstract

Purpose

While robust and accurate, our previously developed volume-to-volume ultrasound-CT registration of vertebrae required that the 2D ultrasound slices be reconstructed into a 3D volume, a time-consuming step that increased the total registration time per vertebra. We have modified our registration technique to a slices-to-volume strategy to eliminate the ultrasound reconstruction step in order to make the total registration time more practical intraoperatively.

Methods

The slices-to-volume registration is achieved by performing backward scan line tracing on individual ultrasound slices as they are acquired, and then registering them as a group to the posterior vertebral surface extracted from the pre-operative CT image. The technique is validated using a lumbosacral Sawbones phantom and the lumbosacral section of three porcine cadavers.

Results

The slices-to-volume registration reduced the total registration time per vertebra from 8 to 4 min. The registration accuracy and robustness of the slices-to-volume registration were found to be equal or superior to those of our previous volume-to-volume registration. In addition, a trade-off was found between registration accuracy and registration speed by changing the number of ultrasound slices used in the registration.

Conclusions

The slices-to-volume ultrasound-CT registration significantly reduces the total registration time per vertebra, making this automated technique more practical intraoperatively.

Keywords

Image-guided surgery Spine surgery Multimodal registration Ultrasound CT 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. 1.
    Holly LT, Foley KT (2007) Image guidance in spine surgery. Orthop Clin N Am 38: 451–461CrossRefGoogle Scholar
  2. 2.
    Schulze CJ, Munzinger E, Weber U (1998) Clinical relevance of accuracy of pedicle screw placement: a computed tomographic-supported analysis. Spine 23(20): 2215–2220PubMedCrossRefGoogle Scholar
  3. 3.
    Haberland N, Ebmeier K, Grunewald JP, Hliscs R, Kalff RL (2000) Incorporation of intraoperative computerized tomography in a newly developed spinal navigation technique. Comput Aided Surg 5(1): 18–27PubMedCrossRefGoogle Scholar
  4. 4.
    Laine T, Lund T, Ylikoski M, Lohikoski J, Schlenzka D (2000) Accuracy of pedicle screw insertion with and without computer assistance: a randomised controlled clinical study in 100 consecutive patients. Eur Spine J 9(3): 235–240PubMedCrossRefGoogle Scholar
  5. 5.
    Glossop ND, Hu RW, Randle JA (1996) Computer-aided pedicle screw placement using frameless stereotaxis. Spine 21(17): 2026–2034PubMedCrossRefGoogle Scholar
  6. 6.
    Ault T, Siegel MW (1995) Frameless patient registration using ultrasonic imaging: a preliminary study. J Image Guid Surg 1(2): 94–102PubMedCrossRefGoogle Scholar
  7. 7.
    Penney GP, Barratt DC, Chan CSK, Slomczykowski M, Carter TJ, Edwards PJ, Hawkes DJ (2006) Cadaver validation of intensity-based ultrasound to CT registration. Med Image Anal 10(3): 385–395PubMedCrossRefGoogle Scholar
  8. 8.
    Barratt DC, Penney GP, Chan CSK, Slomczykowski M, Carter TJ, Edwards PJ, Hawkes DJ (2006) Self-calibrating 3D-ultrasound-based bone registration for minimally invasive orthopedic surgery. IEEE Trans Med Imaging 25(3): 312–323PubMedCrossRefGoogle Scholar
  9. 9.
    Barratt DC, Chan CS, Edwards PJ, Penney GP, Slomczykowski M, Carter TJ, Hawkes DJ (2008) Instantiation and registration of statistical shape models of the femur and pelvis using 3D ultrasound imaging. Med Image Anal 12(3): 358–374PubMedCrossRefGoogle Scholar
  10. 10.
    Mozes A, Chang TC, Arata L, Zhao W (2010) Three-dimensional A-mode ultrasound calibration and registration for robotic orthopaedic knee surgery. Int J Med Robot 6(1): 91–101PubMedGoogle Scholar
  11. 11.
    Tonetti J, Carrat L, Kvallek S, Pittet L, Merloz P, Chirossel JP (1998) Percutaneous iliosacral screw placement using image guided techniques. Clin Orthop Relat R 354: 103–110CrossRefGoogle Scholar
  12. 12.
    Ionescu G, Lavallée S, Demongeot J (1999) Automated registration of ultrasound with CT images: application to computer assisted prostate radiotherapy and orthopedics. In: Taylor C, Colchester A (eds) MICCAI 1999, vol LNCS 1679. Springer, Berlin, pp 768–778Google Scholar
  13. 13.
    Tonetti J, Carrat L, Blendea S, Troccaz J, Merloz P, Lavallée S, Chirossel JP (2001) Clinical validation of computer assisted pelvic surgery using ultrasound, a percutaneous safe technique with low radiation exposure. Stud Health Technol Inform 81: 515–520PubMedGoogle Scholar
  14. 14.
    Amin DV, Kanade T, Anthony  BJ,   DiGioia M III (2003) Ultrasound registration of the bone surface for surgical navigation. Comput Aided Surg 8: 1–16PubMedCrossRefGoogle Scholar
  15. 15.
    Moghari MH, Abolmaesumi P (2007) Point-based rigid-body registration using an unscented kalman filter. IEEE Trans Med Imaging 26(12): 1708–1728PubMedCrossRefGoogle Scholar
  16. 16.
    Foroughi P, Song D, Chintalapani G, Taylor RH, Fichtinger G (2008) Localization of pelvic anatomical coordinate system using US/atlas registration for total hip replacement. In: Metaxas D, Davies B, Axel L (eds) MICCAI 2008, vol LNCS 5242. Springer, Berlin, pp 871–879Google Scholar
  17. 17.
    Oszwald M, Citak M, Kendoff D, Kowal J, Amstutz C, Kirchhoff T, Nolte L, Krettek C, Hüfner T (2008) Accuracy of navigated surgery of the pelvis after surface matching with an A-mode ultrasound probe. J Orthop Res 26(6): 860–864PubMedCrossRefGoogle Scholar
  18. 18.
    Ghanavati S, Mousavi P, Fichtinger G, Foroughi P,Abolmaesumi P (2010) Multi-slice to volume registration of ultrasound data to a statistical atlas of human pelvis. In: Miga MI, Wong KH (eds) Proceedings of SPIE, SPIE, vol 7625, p 76250OGoogle Scholar
  19. 19.
    Lavallée S, Troccaz J, Sautot P, Mazier B, Cinquin P, Merloz P, Chirossel JP (1996) Computer-assisted spinal surgery using anatomy-based registration. In: Taylor RH, Lavallée S, Burdea GC, Mösges R (eds) Computer integrated surgery: technology and clinical applications. MIT Press, MA, pp 425–449Google Scholar
  20. 20.
    Herring JL, Dawant BM, Maurer CR Jr, Muratore DM, Galloway RL, Fitzpatrick JM (1998) Surface-based registration of CT images to physical space for image-guided surgery of the spine: a sensitivity study. IEEE Trans Med Imaging 17(5): 743–752PubMedCrossRefGoogle Scholar
  21. 21.
    Brendel B, Winter S, Rick A, Stockheim M, Ermert H (2002) Registration of 3D CT and ultrasound datasets of the spine using bone structures. Comput Aided Surg 7: 146–155PubMedCrossRefGoogle Scholar
  22. 22.
    Muratore DM, Russ JH, Dawant BM, Galloway RL Jr (2002) Three-dimensional image registration of phantom vertebrae for image-guided surgery: a preliminary study. Comput Aided Surg 7: 342–352PubMedCrossRefGoogle Scholar
  23. 23.
    Brendel B, Siepermanna J, Winter S, Ermert H (2005) In vivo evaluation and in vitro accuracy measurements for an ultrasound-CT registration algorithm. In: International congress series—CARS 2005, vol 1281, pp 583–588Google Scholar
  24. 24.
    Peterhans M, Talib H, Linguraru MG, Styner M, Ballester MAG (2008) A method for frame-by-frame US to CT registration in a joint calibration and registration framework. In: IEEE ISBI 2008, pp 1131–1134Google Scholar
  25. 25.
    Winter S, Brendel B, Pechlivanis I, Schmieder K, Igel C (2008) Registration of CT and intraoperative 3-D ultrasound images of the spine using evolutionary and gradient-based methods. IEEE Trans Evolut Comput 12(3): 284–296CrossRefGoogle Scholar
  26. 26.
    Winter S, Pechlivanis I, Dekomien C, Igel C, Schmieder K (2009) Toward registration of 3D ultrasound and CT images of the spine in clinical praxis: Design and evaluation of a data acquisition protocol. Ultrasound Med Biol 35(11): 1773–1782PubMedCrossRefGoogle Scholar
  27. 27.
    Gill S, Mousavi P, Fichtinger G, Chen E, Boisvert J, Pichora D, Abolmaesumi P (2009) Biomechanically constrained groupwise US to CT registration of the lumbar spine. In: Yang GZ, Hawkes D, Rueckert D (eds) MICCAI 2009, vol LNCS 5761. Springer, Berlin, pp 803–810Google Scholar
  28. 28.
    Rasoulian A, Mousavi P, Moghari MH, Foroughi P, Abolmaesumi P (2010) Group-wise feature-based registration of CT and ultrasound images of spine. In: Miga MI, Wong KH (eds) Proceedings of SPIE, SPIE, vol 7625, p 76250RGoogle Scholar
  29. 29.
    Brounstein A, Hacihaliloglu I, Guy P, Hodgson A, Abugharbieh R (2011) Towards real-time 3D US to CT bone image registration using phase and curvature feature based GMM matching. In: Fichtinger G, Martel A, Peters T (eds) MICCAI 2011, vol 6891, pp 235–242Google Scholar
  30. 30.
    Gill S, Abolmaesumi P, Fichtinger G, Boisvert J, Pichora D, Borshneck D, Mousavi P (2012) Biomechanically constrained groupwise ultrasound to CT registration of the lumbar spine. Med Image Anal 16(3): 662–674PubMedCrossRefGoogle Scholar
  31. 31.
    Lang A, Mousavi P, Gill S, Fichtinger G, Abolmaesumi P (2012) Multi-modal registration of speckle-tracked freehand 3D ultrasound to CT in the lumbar spine. Med Image Anal 16(3): 675–686PubMedCrossRefGoogle Scholar
  32. 32.
    Yan CXB, Goulet B, Pelletier J, Chen SJS, Tampieri D, Collins DL (2011) Towards accurate, robust and practical ultrasound-CT registration of vertebrae for image-guided spine surgery. Int J Comput Assist Radiol Surg 6(4): 523–537PubMedCrossRefGoogle Scholar
  33. 33.
    Yan CXB, Goulet B, Chen SJS, Tampieri D, Collins DL (2011) Validation of automated ultrasound-CT registration of vertebrae. Int J Comput Assist Radiol Surg, online publication. doi: 10.1007/s11,548-011-0666-1
  34. 34.
    Brooks R, Collins DL, Morandi X, Arbel T (2008) Deformable ultrasound registration without reconstruction. In: Metaxas D, Davies B, Axel L (eds) MICCAI 2008, vol LNCS 5242. Springer, Berlin, pp 1023–1031Google Scholar
  35. 35.
    Solberg OV, Lindseth F, Torp H, Blake RE, Hernes TAN (2007) Freehand 3D ultrasound reconstruction algorithms—a review. Ultrasound Med Biol 33(7): 991–1009PubMedCrossRefGoogle Scholar
  36. 36.
    Cleary K, Anderson J, Brazaitis M, Devey G, DiGioia A, Freedman M, Grönemeyer D, Lathan C, Lemke H, Long D, Mun SK, Taylor R (2000) Final report of the technical requirements for image-guided spine procedures workshop. Comput Aided Surg 5(3): 180–215PubMedGoogle Scholar

Copyright information

© CARS 2012

Authors and Affiliations

  • Charles X. B. Yan
    • 1
  • Benoît Goulet
    • 2
  • Donatella Tampieri
    • 3
  • D. Louis Collins
    • 1
  1. 1.McConnell Brain Imaging Centre, Montreal Neurological Institute3801 Rue UniversityMontrealCanada
  2. 2.Department of Neurology and NeurosurgeryMcGill UniversityMontrealCanada
  3. 3.Diagnostic and Interventional Neuroradiology, Montreal Neurological Hospital3801 Rue UniversityMontrealCanada

Personalised recommendations