ICP Registration Technology based on the Coordinate System Direction Fit
ICP Registration Technology based on the Coordinate System Direction Fit
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DOI：
10.14257/ijsia.2015.9.12.06
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发表时间：
2015-12-01
影响因子：
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通讯作者：
Dong, Zhiqiang
中科院分区：
文献类型：
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作者：
Tian, Heqiang;Yang, Peng;Dong, Zhiqiang
在计算机辅助手术中，最重要的问题之一是使术前模型与术中数据保持一致。迭代最近点(ICP)算法无疑是解决这类问题最常用的算法，需要很好的初始化。针对该算法在术中配准时容易陷入局部最优的缺点，提出了一种基于坐标系方向拟合的ICP算法。首先，介绍了ICP配准算法及其存在的问题。其次，基于CT扫描姿态与手术姿态的一致性，建立了患者的三平面坐标系，减少了CT图像空间与患者空间之间的旋转错位。然后，对该算法进行了实验，并进行了精度分析。最后，给出了误差分析。实验结果表明，基于坐标系方向拟合的ICP算法的优点之一是在三个平面坐标系下对患者的配准容易收敛，从而提高了配准精度，减少了计算处理时间
In computer assisted surgery, one of the most important problems is to align the preoperative model with intraoperative data. The Iterative Closest Point (ICP) algorithm is undoubtedly the most popular algorithm for solving this kind of problem, which needs a good initialization. In this paper, an ICP algorithm based on the coordinate system direction fit is present to improve ICP algorithm's shortcoming with easily falling into local optimum for intraoperative registration. Firstly, ICP registration algorithm and its problems are introduced. Secondly, based on the consistency between CT scans pose and surgical pose, a three-plane coordinate system on patients is established to reduce the rotation dislocation between CT image space and patient space. Then, an ICP algorithm experiment and its precision analysis are conducted. Finally, the error analysis is also given. The experimental results show that one of the benefits of the ICP algorithm based on the coordinate system direction fit is that it is easily convergent on the registration by a three-plane coordinate system on patients, which increases the registration accuracy and reduces the computational processing time