Linear Object Registration of Interventional Tools

  • Matthew S. Holden
  • Gabor Fichtinger
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8678)


PURPOSE: Point-set registration for interventional tools requires well-defined points to be present on these tools. In this work, an algorithm is proposed which uses planes, lines, and points for registration when point-set registration is not feasible. METHODS: The proposed algorithm matches points, lines, and planes in each coordinate system, uses invariant features for initial registration, and optimizes the registration iteratively. For validation, simulated data with known ground-truth and real surgical tool registration data using point-set registration as ground-truth were created to evaluate the algorithm’s accuracy. RESULTS: The proposed algorithm is equally as accurate as point-set registration, and the difference between the registrations is less than the noise in the tracking system. CONCLUSION: The proposed algorithm is a viable alternative when point-set registration cannot be performed.


Registration Surgical navigation Coordinate transformations 


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Copyright information

© Springer International Publishing Switzerland 2014

Authors and Affiliations

  • Matthew S. Holden
    • 1
  • Gabor Fichtinger
    • 1
  1. 1.Laboratory for Percutaneous Surgery, School of ComputingQueen’s UniversityKingstonCanada

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