2D/3D registration of endoscopic ultrasound to CT volume data
2D/3D registration of endoscopic ultrasound to CT volume data
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DOI：
10.1088/0031-9155/53/16/006
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发表时间：
2008-08-21
影响因子：
3.5
通讯作者：
Birkfellner, Wolfgang
中科院分区：
文献类型：
--
作者：
Hummel, Johann;Figl, Michael;Birkfellner, Wolfgang
本文描述了一个计算机辅助导航系统，使用图像融合来支持内镜干预，如准确收集活检标本。内窥镜为医生提供实时超声（US）和视频图像。从术前计算机断层扫描（CT）或磁共振图像体积数据集中获得与US扫描头相应图像对应的图像切片，使用斜向重新格式化并与US图像并排显示。在校准内窥镜的扫描头后，由微型电磁跟踪系统（EMTS）确定由US扫描头获取的图像的位置。使用2D/3D配准计算患者坐标系与术前数据集之间的转换。这是通过使用与美国校准相同的算法，使用光学跟踪系统（OTS）校准术中介入CT切片来实现的。然后使用切片与术前体积的坐标系进行2D/3D配准。美国校准的基准配准误差（FRE）为2.0 mm +/- 0.4 mm；介入CT FRE为0.36±0.12 mm；2D/ 3D配准目标配准误差（TRE）为1.8±0.3 mm。OTS和EMTS之间的点对点配准的FRE为0.9 +/- 0.4 mm。最后，我们发现整个系统的总TRE为3.9 +/- 0.6 mm。
This paper describes a computer-aided navigation system using image fusion to support endoscopic interventions such as the accurate collection of biopsy specimens. An endoscope provides the physician with real- time ultrasound (US) and a video image. An image slice that corresponds to the corresponding image from the US scan head is derived from a preoperative computed tomography (CT) or magnetic resonance image volume data set using oblique reformatting and displayed side by side with the US image. The position of the image acquired by the US scan head is determined by a miniaturized electromagnetic tracking system (EMTS) after calibrating the endoscope's scan head. The transformation between the patient coordinate system and the preoperative data set is calculated using a 2D/3D registration. This is achieved by calibrating an intraoperative interventional CT slice with an optical tracking system (OTS) using the same algorithm as for the US calibration. The slice is then used for 2D/3D registration with the coordinate system of the preoperative volume. The fiducial registration error (FRE) for the US calibration was 2.0 mm +/- 0.4 mm; the interventional CT FRE was 0.36 +/- 0.12 mm; and the 2D/ 3D registration target registration error (TRE) was 1.8 +/- 0.3 mm. The point-to-point registration between the OTS and the EMTS had an FRE of 0.9 +/- 0.4 mm. Finally, we found an overall TRE for the complete system to be 3.9 +/- 0.6 mm.