Registration of multiple video images to preoperative CT for image-guided surgery

Matthew J. Clarkson; Daniel Rueckert; Derek L.G. Hill; David John Hawkes

doi:10.1117/12.348487

21 May 1999 Registration of multiple video images to preoperative CT for image-guided surgery

Matthew J. Clarkson, Daniel Rueckert, Derek L.G. Hill, David John Hawkes

Proceedings Volume 3661, Medical Imaging 1999: Image Processing; (1999) https://doi.org/10.1117/12.348487
Event: Medical Imaging '99, 1999, San Diego, CA, United States

Abstract

In this paper we propose a method which uses multiple video images to establish the pose of a CT volume with respect to video camera coordinates for use in image guided surgery. The majority of neurosurgical procedures require the neurosurgeon to relate the pre-operative MR/CT data to the intra-operative scene. Registration of 2D video images to the pre-operative 3D image enables a perspective projection of the pre-operative data to be overlaid onto the video image. Our registration method is based on image intensity and uses a simple iterative optimization scheme to maximize the mutual information between a video image and a rendering from the pre-operative data. Video images are obtained from a stereo operating microscope, with a field of view of approximately 110 X 80 mm. We have extended an existing information theoretical framework for 2D-3D registration, so that multiple video images can be registered simultaneously to the pre-operative data. Experiments were performed on video and CT images of a skull phantom. We took three video images, and our algorithm registered these individually to the 3D image. The mean projection error varied between 4.33 and 9.81 millimeters (mm), and the mean 3D error varied between 4.47 and 11.92 mm. Using our novel techniques we then registered five video views simultaneously to the 3D model. This produced an accurate and robust registration with a mean projection error of 0.68 mm and a mean 3D error of 1.05 mm.

Citation Download Citation

Matthew J. Clarkson, Daniel Rueckert, Derek L.G. Hill, and David John Hawkes "Registration of multiple video images to preoperative CT for image-guided surgery", Proc. SPIE 3661, Medical Imaging 1999: Image Processing, (21 May 1999); https://doi.org/10.1117/12.348487

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