Preoperative to Intraoperative Space Registration for Management of Head Injuries
A registration framework for image-guided robotic
surgery is proposed for three emergency neurosurgical procedures,
namely Intracranial Pressure (ICP) Monitoring, External Ventricular
Drainage (EVD) and evacuation of a Chronic Subdural Haematoma
(CSDH). The registration paradigm uses CT and white light as
modalities. This paper presents two simulation studies for a
preliminary evaluation of the registration protocol: (1) The loci of the
Target Registration Error (TRE) in the patient-s axial, coronal and
sagittal views were simulated based on a Fiducial Localisation Error
(FLE) of 5 mm and (2) Simulation of the actual framework using
projected views from a surface rendered CT model to represent white
light images of the patient. Craniofacial features were employed as
the registration basis to map the CT space onto the simulated
intraoperative space. Photogrammetry experiments on an artificial
skull were also performed to benchmark the results obtained from the
second simulation. The results of both simulations show that the
proposed protocol can provide a 5mm accuracy for these
neurosurgical procedures.
[1] J.M. Fitzpatrick, D. L. G. Hill and C. R. Maurer Jr, "Image registration",
in Handbook of Medical Imaging II: Medical Image Processing and
Analysis , vol. 2, M. Sonka and J. M. Fitzpatrick, Eds. Bellingham, WA:
SPIE Press, 2000, pp. 447-513.
[2] J. McInerney and D. W. Roberts, "Frameless stereotaxy of the brain,"
Mt. Sinai J. Med., vol. 67, Sep. 2000, pp. 300-310.
[3] C. R. Maurer, R. P. Gaston, D. L. G. Hill, M. J. Gleeson, M. G. Taylor,
M. R. Fenlon et al., "AcouStick: A Tracked A-Mode Ultrasonography
System for Registration in Image-Guided Surgery," LECTURE NOTES
IN COMPUTER SCIENCE, 1999, pp. 953-962.
[4] M.J. Citardi, "Computer-aided frontal sinus surgery", Otolaryngol. Clin.
North Am., vol. 34, 2001, pp. 111-122.
[5] A.C. Colchester, J. Zhao, K. S. Holton-Tainter, C. J. Henri, N. Maitland,
P. T. Roberts et al., "Development and preliminary evaluation of
VISLAN, a surgical planning and guidance system using intra-operative
video imaging", Med. Image Anal., vol. 1, Mar. 1996, pp. 73-90.
[6] W. E. L. Grimson, G. J. Ettinger, S. J. White, T. Lozano-Perez, W. M.
Wells III and R. Kikinis, "An automatic registration method for
frameless stereotaxy, image guided surgery, and enhanced reality
visualization", Medical Imaging, IEEE Transactions on, vol. 15, 1996,
pp. 129-140.
[7] M.J. Clarkson, D. Rueckert, D. L. G. Hill and D. J. Hawkes, "Using
photo-consistency to register 2D optical images of the human face to a
3D surface model", IEEE Trans. Pattern Anal. Mach. Intell., vol. 23,
2001, pp. 1266-1280.
[8] P. Viola and W.M. Wells III, "Alignment by Maximization of Mutual
Information", International Journal of Computer Vision, vol. 24, 1997,
pp. 137-154.
[9] M.J. Clarkson, D. Rueckert, D.L. Hill and D. J. Hawkes, "Registration of
multiple video images to preoperative CT for image-guided surgery",
Proceedings of SPIE, vol. 3661, 2003, pp. 14-23.
[10] J.M. Fitzpatrick, J.B. West and C.R. Maurer Jr, "Predicting error in
rigid-body point-based registration", Medical Imaging, IEEE
Transactions, vol. 17, 1998, pp. 694-702.
[11] A-Nasser Ansari and Mohamed Abdel-Mottaleb, "Automatic facial
feature extraction and 3D face modelling using two orthogonal views
with application to 3D face recognition", Pattern Recognition vol. 38
(12), Dec 2005, pp 2549-2563.
[12] Y.I. Abdel-Aziz. and H.M. Karara, "Direct linear transformation from
comparator coordinates into object space coordinates in close-range
photogrammetry." Proceedings of the Symposium on Close-Range
Photogrammetry, Falls Church, VA: American Society of
Photogrammetry, 1971, pp. 1-18.
[13] LIANG CHEN, C.W. ARMSTRONG and D.D. RAFTOPOULOS, "An
investigation on the accuracy of three-dimensional space reconstruction
using the direct linear transformation technique", Journal of
biomechanics, Vol. 27, No. 4, 1994, pp. 493-500,
[14] M.G.P. Cavalcanti, S.S. Rocha and M.W. Vannier, "Craniofacial
measurements based on 3D-CT volume rendering: implications for
clinical applications", Dentomaxillofacial Radiology, vol. 33, 2004, pp.
170-176.
[15] D.X. Liu, C.L. Wang, L. Liu, Z.Y. Dong, H.F. Ke and Z.Y. Yu, "The
accuracy of 3D-CT volume rendering for craniofacial linear
measurements", Shanghai Kou Qiang Yi Xue, vol. 15, Oct. 2006., pp.
517-520.
[16] K. Kim, A. Ruprecht, G. Wang, J. Lee, D. Dawson and M. Vannier,
"Accuracy of facial soft tissue thickness measurements in personal
computer-based multiplanar reconstructed computed tomographic
images", Forensic Sci. Int., vol. 155, Dec 1. 2005, pp. 28-34,.
[17] A.A. Waitzman, J.C. Posnick, D.C. Armstrong and G.E. Pron,
"Craniofacial skeletal measurements based on computed tomography:
Part I. Accuracy and reproducibility", Cleft Palate. Craniofac. J., vol.
29, Mar. 1992, pp. 112-117.
[18] K. Togashi, H. Kitaura, K. Yonetsu, N. Yoshida and T. Nakamura,
"Three-Dimensional Cephalometry Using Helical Computer
Tomography: Measurement Error Caused by Head Inclination", Angle
Orthod., vol. 72, 2002, pp. 513-520.
[1] J.M. Fitzpatrick, D. L. G. Hill and C. R. Maurer Jr, "Image registration",
in Handbook of Medical Imaging II: Medical Image Processing and
Analysis , vol. 2, M. Sonka and J. M. Fitzpatrick, Eds. Bellingham, WA:
SPIE Press, 2000, pp. 447-513.
[2] J. McInerney and D. W. Roberts, "Frameless stereotaxy of the brain,"
Mt. Sinai J. Med., vol. 67, Sep. 2000, pp. 300-310.
[3] C. R. Maurer, R. P. Gaston, D. L. G. Hill, M. J. Gleeson, M. G. Taylor,
M. R. Fenlon et al., "AcouStick: A Tracked A-Mode Ultrasonography
System for Registration in Image-Guided Surgery," LECTURE NOTES
IN COMPUTER SCIENCE, 1999, pp. 953-962.
[4] M.J. Citardi, "Computer-aided frontal sinus surgery", Otolaryngol. Clin.
North Am., vol. 34, 2001, pp. 111-122.
[5] A.C. Colchester, J. Zhao, K. S. Holton-Tainter, C. J. Henri, N. Maitland,
P. T. Roberts et al., "Development and preliminary evaluation of
VISLAN, a surgical planning and guidance system using intra-operative
video imaging", Med. Image Anal., vol. 1, Mar. 1996, pp. 73-90.
[6] W. E. L. Grimson, G. J. Ettinger, S. J. White, T. Lozano-Perez, W. M.
Wells III and R. Kikinis, "An automatic registration method for
frameless stereotaxy, image guided surgery, and enhanced reality
visualization", Medical Imaging, IEEE Transactions on, vol. 15, 1996,
pp. 129-140.
[7] M.J. Clarkson, D. Rueckert, D. L. G. Hill and D. J. Hawkes, "Using
photo-consistency to register 2D optical images of the human face to a
3D surface model", IEEE Trans. Pattern Anal. Mach. Intell., vol. 23,
2001, pp. 1266-1280.
[8] P. Viola and W.M. Wells III, "Alignment by Maximization of Mutual
Information", International Journal of Computer Vision, vol. 24, 1997,
pp. 137-154.
[9] M.J. Clarkson, D. Rueckert, D.L. Hill and D. J. Hawkes, "Registration of
multiple video images to preoperative CT for image-guided surgery",
Proceedings of SPIE, vol. 3661, 2003, pp. 14-23.
[10] J.M. Fitzpatrick, J.B. West and C.R. Maurer Jr, "Predicting error in
rigid-body point-based registration", Medical Imaging, IEEE
Transactions, vol. 17, 1998, pp. 694-702.
[11] A-Nasser Ansari and Mohamed Abdel-Mottaleb, "Automatic facial
feature extraction and 3D face modelling using two orthogonal views
with application to 3D face recognition", Pattern Recognition vol. 38
(12), Dec 2005, pp 2549-2563.
[12] Y.I. Abdel-Aziz. and H.M. Karara, "Direct linear transformation from
comparator coordinates into object space coordinates in close-range
photogrammetry." Proceedings of the Symposium on Close-Range
Photogrammetry, Falls Church, VA: American Society of
Photogrammetry, 1971, pp. 1-18.
[13] LIANG CHEN, C.W. ARMSTRONG and D.D. RAFTOPOULOS, "An
investigation on the accuracy of three-dimensional space reconstruction
using the direct linear transformation technique", Journal of
biomechanics, Vol. 27, No. 4, 1994, pp. 493-500,
[14] M.G.P. Cavalcanti, S.S. Rocha and M.W. Vannier, "Craniofacial
measurements based on 3D-CT volume rendering: implications for
clinical applications", Dentomaxillofacial Radiology, vol. 33, 2004, pp.
170-176.
[15] D.X. Liu, C.L. Wang, L. Liu, Z.Y. Dong, H.F. Ke and Z.Y. Yu, "The
accuracy of 3D-CT volume rendering for craniofacial linear
measurements", Shanghai Kou Qiang Yi Xue, vol. 15, Oct. 2006., pp.
517-520.
[16] K. Kim, A. Ruprecht, G. Wang, J. Lee, D. Dawson and M. Vannier,
"Accuracy of facial soft tissue thickness measurements in personal
computer-based multiplanar reconstructed computed tomographic
images", Forensic Sci. Int., vol. 155, Dec 1. 2005, pp. 28-34,.
[17] A.A. Waitzman, J.C. Posnick, D.C. Armstrong and G.E. Pron,
"Craniofacial skeletal measurements based on computed tomography:
Part I. Accuracy and reproducibility", Cleft Palate. Craniofac. J., vol.
29, Mar. 1992, pp. 112-117.
[18] K. Togashi, H. Kitaura, K. Yonetsu, N. Yoshida and T. Nakamura,
"Three-Dimensional Cephalometry Using Helical Computer
Tomography: Measurement Error Caused by Head Inclination", Angle
Orthod., vol. 72, 2002, pp. 513-520.
@article{"International Journal of Medical, Medicine and Health Sciences:63423", author = "M. Gooroochurn and M. Ovinis and D. Kerr and K. Bouazza-Marouf and M. Vloeberghs", title = "Preoperative to Intraoperative Space Registration for Management of Head Injuries", abstract = "A registration framework for image-guided robotic
surgery is proposed for three emergency neurosurgical procedures,
namely Intracranial Pressure (ICP) Monitoring, External Ventricular
Drainage (EVD) and evacuation of a Chronic Subdural Haematoma
(CSDH). The registration paradigm uses CT and white light as
modalities. This paper presents two simulation studies for a
preliminary evaluation of the registration protocol: (1) The loci of the
Target Registration Error (TRE) in the patient-s axial, coronal and
sagittal views were simulated based on a Fiducial Localisation Error
(FLE) of 5 mm and (2) Simulation of the actual framework using
projected views from a surface rendered CT model to represent white
light images of the patient. Craniofacial features were employed as
the registration basis to map the CT space onto the simulated
intraoperative space. Photogrammetry experiments on an artificial
skull were also performed to benchmark the results obtained from the
second simulation. The results of both simulations show that the
proposed protocol can provide a 5mm accuracy for these
neurosurgical procedures.", keywords = "Image-guided Surgery, Multimodality Registration,Photogrammetry, Preoperative to Intraoperative Registration.", volume = "3", number = "9", pages = "246-8", }
