Registration of Intraoperative 3D Ultrasound with MR Data for the Navigated Computer Based Surgery
Computer based navigated surgery assists the spatial orientation of the surgeon. Our system registers preoperative data like CT or MR with intraoperative ultrasound data to get the coordinate transformation between the preoperative and the intraoperative data. With a surface volume registration we avoid a difficult surface segmentation in the ultrasound data. To prevent radial exposure and to get more details in the soft tissue the use of MR data for the operation planning is common. Extracting the bone surface in MR data is more difficult than in CT data because MR data has no normalized gray values. To register the ultrasound with the MR data at the knee we detected distinctive anatomic regions in the ultrasound data. We selected an adequate MR sequence in which we could segment the bone surface at the specific region. We evaluate the registration with 1000 random starting positions. 99.2% of the 1000 trails reached the optimum with an error less than 1 mm.
KeywordsBone Structure Bone Surface Registration Result Ultrasound Data Successful Registration
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