Automatic Multi-modal ToF/CT Organ Surface Registration

Abstract. In the field of image-guided liver surgery (IGLS), the initial registration of the intra-operative organ surface with preoperative tomographic image data is performed on manually selected anatomical landmarks. In this paper, we introduce a fully automatic scheme that is able to estimate the transformation for initial organ registration in a multi-modal setup aligning intra-operative time-of-flight (ToF) with preoperative computed tomography (CT) data, without manual interaction. The method consists of three stages: First, we extract geometric features that encode the local surface topology in a discriminative manner based on a novel gradient operator. Second, based on these features, point correspondences are established and deployed for estimating a coarse initial transformation. Third, we apply a conventional iterative closest point (ICP) algorithm to refine the alignment. The proposed method was evaluated for an open abdominal hepatic surgery scenario with invitro exper...

• Type: Journal
• Year: 2011
• Where: BILDMED
• Authors: Kerstin Müller, Sebastian Bauer, Jakob Wasza, Joachim Hornegger
• Keywords: Algorithms, BILDMED 2011, Gradient Operator, Initial Transformation, Point Correspondences