Vessel-based non-rigid registration of MR/CT and 3D ultrasound for navigation in liver surgery.
Vessel-based non-rigid registration of MR/CT and 3D ultrasound for navigation in liver surgery.
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DOI：
10.3109/10929080309146058
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发表时间：
2003-01-01
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影响因子：
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通讯作者：
Schlag, Peter-Michael
中科院分区：
文献类型：
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作者：
Lange, Thomas;Eulenstein, Sebastian;Schlag, Peter-Michael
目的：基于术前计算机断层扫描(CT)或磁共振成像(MRI)数据的计算机辅助肝脏手术计划可以为手术决策和患者个体三维解剖的可视化提供重要的帮助。基于术中三维超声的导航系统可以帮助外科医生精确定位血管、血管区域或肿瘤。术前计划必须转移到术中超声数据，从而转移到手术台上的患者。由于肝脏在规划和手术过程中的变形，需要一种快速的非刚性配准方法。材料和方法：提出了一种基于门静脉中心线的基于特征的非刚性配准方法。迭代最近点(ICP)方法和多层B-Spline变换的结合提供了一种快速配准方法。从术前CT/MRI和术中3D能量多普勒超声数据中分割血管并提取其中心线。在ICP算法的每次迭代中确定两种模式的中心线上的解剖对应点。在给定的搜索半径内搜索对应点，并结合血管的方向。结果：该算法在3个不同患者的2个经皮和1个术中临床超声数据集上进行了评估。与手动分配相比，只有极少数的血管节段没有被正确分配。利用非刚性变换，使血管的均方根目标配准误差提高了约3-5 mm。结论：提出的配准方法速度足够快，可用于肝脏外科的临床应用。初步的准确性结果是有希望的，必须进一步评估，特别是在手术室。
OBJECTIVE: Computer assisted planning of liver surgery based on preoperative computed tomography (CT) or magnetic resonance imaging (MRI) data can be an important aid to operability decisions and visualization of individual patients' 3D anatomy. A navigation system based on intraoperative 3D ultrasound may help the surgeon to precisely localize vessels, vascular territories or tumors. The preoperative planning must be transferred to the intraoperative ultrasound data and thus to the patient on the operating table. Due to deformations of the liver between planning and surgery, a fast non-rigid registration method is needed.MATERIALS AND METHODS: A feature-based non-rigid registration approach based on the centerlines of the portal veins has been developed. The combination of an iterative closest point (ICP) approach and Multilevel B-Spline transformations offers a fast registration method. The vessels are segmented and their centerlines extracted from preoperative CT/MRI and intraoperative 3D Powerdoppler ultrasound data. Anatomical corresponding points on the centerlines of both modalities are determined in each iteration of the ICP algorithm. The search for corresponding points is restricted to a given search radius and the direction of the vessels is incorporated.RESULTS: The algorithm has been evaluated on two transcutaneous and one intraoperative clinical ultrasound data set from three different patients. Only a very few vessel segments were not assigned correctly compared to manual assignments. Using non-rigid transformations improved the root mean square target registration error of the vessels by approximately 3-5 mm.CONCLUSIONS: The proposed registration method is fast enough for clinical application in liver surgery. Initial accuracy results are promising and must be further evaluated, particularly in the operating room.