Global rigid registration of CT to video in laparoscopic liver surgery.
Global rigid registration of CT to video in laparoscopic liver surgery.
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DOI：
10.1007/s11548-018-1781-z
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发表时间：
2018-06
影响因子：
3
通讯作者：
Clarkson MJ
中科院分区：
文献类型：
--
作者：
Robu MR;Ramalhinho J;Thompson S;Gurusamy K;Davidson B;Hawkes D;Stoyanov D;Clarkson MJ
图像引导系统有可能通过提供皮下结构信息和肿瘤定位来帮助腹腔镜介入。术前3D图像与术中腹腔镜视频馈送的配准是图像引导的重要组成部分，其应当快速、稳健并且对外科手术造成最小的干扰。大多数用于刚性和非刚性配准的方法需要良好的初始对准。然而，在大多数用于腹部手术的研究系统中，用户必须手动旋转和平移模型，这通常难以快速和直观地执行。我们提出了一种快速的，全球性的方法，从术前CT的肝脏和表面重建的术中场景的三维网格之间的初始刚性对齐。我们制定的形状匹配问题作为一个二次分配问题，最大限度地减少特征描述符之间的不相似性，同时执行所有特征点之间的几何一致性。我们采用了一种新的约束的基础上，肝脏轮廓，专门处理腹腔镜数据所带来的挑战。我们验证了我们提出的方法的合成数据，肝脏幻影和回顾性临床数据采集腹腔镜肝切除术。我们表现出的鲁棒性降低部分大小和增加变形水平。我们的研究结果的幻影和真实的数据显示良好的初始对准，可以成功地收敛到正确的位置，使用精细对准技术。此外，由于我们可以在手术前预处理CT扫描，因此所提出的方法比当前算法运行得更快。所提出的形状匹配方法可以提供快速的全局初始配准，其可以通过精细对准方法进一步细化。这种方法将为腹腔镜肝脏手术提供一种更实用、更直观的图像引导系统。
Image-guidance systems have the potential to aid in laparoscopic interventions by providing sub-surface structure information and tumour localisation. The registration of a preoperative 3D image with the intraoperative laparoscopic video feed is an important component of image guidance, which should be fast, robust and cause minimal disruption to the surgical procedure. Most methods for rigid and non-rigid registration require a good initial alignment. However, in most research systems for abdominal surgery, the user has to manually rotate and translate the models, which is usually difficult to perform quickly and intuitively. We propose a fast, global method for the initial rigid alignment between a 3D mesh derived from a preoperative CT of the liver and a surface reconstruction of the intraoperative scene. We formulate the shape matching problem as a quadratic assignment problem which minimises the dissimilarity between feature descriptors while enforcing geometrical consistency between all the feature points. We incorporate a novel constraint based on the liver contours which deals specifically with the challenges introduced by laparoscopic data. We validate our proposed method on synthetic data, on a liver phantom and on retrospective clinical data acquired during a laparoscopic liver resection. We show robustness over reduced partial size and increasing levels of deformation. Our results on the phantom and on the real data show good initial alignment, which can successfully converge to the correct position using fine alignment techniques. Furthermore, since we can pre-process the CT scan before surgery, the proposed method runs faster than current algorithms. The proposed shape matching method can provide a fast, global initial registration, which can be further refined by fine alignment methods. This approach will lead to a more usable and intuitive image-guidance system for laparoscopic liver surgery.
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影响因子：
10.9
作者：
dos Santos, Thiago Ramos;Seitel, Alexander;Maier-Hein, Lena
通讯作者：
Maier-Hein, Lena
影响因子：
23.4
作者：
Teber, Dogu;Guven, Selcuk;Rassweiler, Jens
通讯作者：
Rassweiler, Jens
DOI：
10.1007/s11548-016-1385-4
发表时间：
2016-06-01
影响因子：
3
作者：
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通讯作者：
Maier-Hein, Lena
影响因子：
3.8
作者：
Suwelack, Stefan;Roehl, Sebastian;Speidel, Stefanie
通讯作者：
Speidel, Stefanie
影响因子：
4.7
作者：
Bartoli, Adrien;Collins, Toby;Canis, Michel
通讯作者：
Canis, Michel