Int J Comput Assist Radiol Surg - Two-stage point-based registration method between ultrasound and CT imaging of the liver based on ICP and unscented Kalman filter: a phantom study.

Tópicos

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Resumo

RPOSE: In recent years, image-guided liver surgery based on intraoperative ultrasound (US) imaging has become common. Using an efficient point-based registration method to improve both accuracy and computational time for the registration of predeformation computer tomography, liver images with postdeformation US images are important during surgical procedure. Although iterative closest point (ICP) algorithm is widely used in surface-based registration, its performance strongly depends on the presence of noise and initial alignment. A registration technique based on unscented Kalman filter (UKF), which has been proposed recently, can used to overcome the noise and outliers on an incremental basis; however, the technique is associated with computational complexity.METHODS: To overcome the limitations of ICP and UKF algorithms, we proposed an incremental two-stage registration method based on the combination of ICP and UKF algorithms to update the registration process with the acquired new points from US images. The registration is based on both the vessels and surface information of the liver.RESULTS: The two-stage method was examined using numerical simulations and phantom data sets. The results of the phantom data set confirmed that the two-stage method outperforms the accuracy of ICP by 23% and reduces the running time of UKF by 60%.CONCLUSION: The convergence rate, computational speed, and accuracy of the UKF algorithm can be improved using the two-stage method.

Resumo Limpo

rpose recent year imageguid liver surgeri base intraop ultrasound us imag becom common use effici pointbas registr method improv accuraci comput time registr predeform comput tomographi liver imag postdeform us imag import surgic procedur although iter closest point icp algorithm wide use surfacebas registr perform strong depend presenc nois initi align registr techniqu base unscent kalman filter ukf propos recent can use overcom nois outlier increment basi howev techniqu associ comput complexitymethod overcom limit icp ukf algorithm propos increment twostag registr method base combin icp ukf algorithm updat registr process acquir new point us imag registr base vessel surfac inform liverresult twostag method examin use numer simul phantom data set result phantom data set confirm twostag method outperform accuraci icp reduc run time ukf conclus converg rate comput speed accuraci ukf algorithm can improv use twostag method

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