Intraoperative CT as a registration benchmark for intervertebral motion compensation in image-guided open spinal surgery.
Intraoperative CT as a registration benchmark for intervertebral motion compensation in image-guided open spinal surgery.
复制标题
DOI：
10.1007/s11548-015-1255-5
复制
发表时间：
2015-12
影响因子：
3
通讯作者：
Lollis SS
中科院分区：
文献类型：
--
作者：
Ji S;Fan X;Paulsen KD;Roberts DW;Mirza SK;Lollis SS
准确可靠的配准精度和椎间运动补偿基准对于脊柱图像引导非常重要。在本研究中，我们评估了术中 CT (iCT) 代替骨植入螺钉作为地面实况配准的效用，并说明了其用于衡量术中立体视觉 (iSV) 性能基准的用途。开发了一种基于模板的多体配准方案，用于在脊柱的术前 CT 和 iCT 之间单独分割和配对相应的椎骨。椎间运动是根据所得到的椎骨成对配准来确定的。图像驱动配准的准确性使用基于分割骨特征的表面到表面距离误差（SDE）进行评估，并使用根据骨植入微型螺钉计算的点对点目标配准误差（TRE）进行独立验证。 SDE 和 TRE 均用于评估 iSV 的补偿精度。基于 iCT 的技术在 4 个移植的猪脊柱（20 对椎骨）上进行了人工诱导运动的评估。我们报告，对于所有汇集的椎骨，SDE 和 TRE 的配准精度分别为 0.57 ± 0.32 mm（范围 0.34–1.14 mm）和 0.29 ± 0.15 mm（范围 0.14–0.78 mm），平均椎间旋转为 4.9° ± 1.2°（范围 1.5°–7.9°）。一个样本（四块椎骨）的基于 iSV 的补偿精度在 SDE 和 TRE 中分别为 1.32 ± 0.19 mm 和 1.72 ± 0.55 mm，超过了建议的 2 mm 精度。这项研究证明了 iCT 代替侵入性基准作为配准基本事实的有效性。这些发现对于未来使用无辐射图像（例如立体视觉和超声波）对人体进行按需脊柱图像引导的发展非常重要。
An accurate and reliable benchmark of registration accuracy and intervertebral motion compensation is important for spinal image guidance. In this study, we evaluated the utility of intraoperative CT (iCT) in place of bone-implanted screws as the ground-truth registration and illustrated its use to benchmark the performance of intraoperative stereovision (iSV). A template-based, multi-body registration scheme was developed to individually segment and pair corresponding vertebrae between preoperative CT and iCT of the spine. Intervertebral motion was determined from the resulting vertebral pair-wise registrations. The accuracy of the image-driven registration was evaluated using surface-to-surface distance error (SDE) based on segmented bony features and was independently verified using point-to-point target registration error (TRE) computed from bone-implanted mini-screws. Both SDE and TRE were used to assess the compensation accuracy using iSV. The iCT-based technique was evaluated on four explanted porcine spines (20 vertebral pairs) with artificially induced motion. We report a registration accuracy of 0.57 ± 0.32 mm (range 0.34–1.14 mm) and 0.29 ± 0.15 mm (range 0.14–0.78 mm) in SDE and TRE, respectively, for all vertebrae pooled, with an average intervertebral rotation of 4.9° ± 1.2° (range 1.5°–7.9°). The iSV-based compensation accuracy for one sample (four vertebrae) was 1.32 ± 0.19 mm and 1.72 ± 0.55 mm in SDE and TRE, respectively, exceeding the recommended accuracy of 2 mm. This study demonstrates the effectiveness of iCT in place of invasive fiducials as a registration ground truth. These findings are important for future development of on-demand spinal image guidance using radiation-free images such as stereovision and ultrasound on human subjects.