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Registration of 3D freehand ultrasound to a bone model for orthopedic procedures of the forearm

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International Journal of Computer Assisted Radiology and Surgery Aims and scope Submit manuscript

Abstract

Purpose

For guidance of orthopedic surgery, the registration of preoperative images and corresponding surgical plans with the surgical setting can be of great value. Ultrasound (US) is an ideal modality for surgical guidance, as it is non-ionizing, real time, easy to use, and requires minimal (magnetic/radiation) safety limitations. By extracting bone surfaces from 3D freehand US and registering these to preoperative bone models, complementary information from these modalities can be fused and presented in the surgical realm.

Methods

A partial bone surface is extracted from US using phase symmetry and a factor graph-based approach. This is registered to the detailed 3D bone model, conventionally generated for preoperative planning, based on a proposed multi-initialization and surface-based scheme robust to partial surfaces.

Results

36 forearm US volumes acquired using a tracked US probe were independently registered to a 3D model of the radius, manually extracted from MRI. Given intraoperative time restrictions, a computationally efficient algorithm was determined based on a comparison of different approaches. For all 36 registrations, a mean (± SD) point-to-point surface distance of \(0.57\,(\pm \,0.08)\,\hbox {mm}\) was obtained from manual gold standard US bone annotations (not used during the registration) to the 3D bone model.

Conclusions

A registration framework based on the bone surface extraction from 3D freehand US and a subsequent fast, automatic surface alignment robust to single-sided view and large false-positive rates from US was shown to achieve registration accuracy feasible for practical orthopedic scenarios and a qualitative outcome indicating good visual image alignment.

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Notes

  1. http://mi.eng.cam.ac.uk/~rwp/stradwin/.

  2. https://sites.google.com/site/myronenko/research/cpd.

  3. https://github.com/bing-jian/gmmreg.

  4. http://hciweb2.iwr.uni-heidelberg.de/opengm/.

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Acknowledgements

This work was funded by the Swiss National Science Foundation (SNSF) and a Highly Specialized Medicine (HSM2) grant of the Canton of Zurich.

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Authors and Affiliations

  1. Computer-Assisted Applications in Medicine (CAiM), ETH Zurich, Zurich, Switzerland

    Matija Ciganovic, Firat Ozdemir, Fabien Pean, Christine Tanner & Orcun Goksel

  2. Computer Assisted Research and Development (CARD), Balgrist University Hospital, University of Zurich, Zurich, Switzerland

    Philipp Fuernstahl

Authors
  1. Matija Ciganovic
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  2. Firat Ozdemir
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  3. Fabien Pean
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  4. Philipp Fuernstahl
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  5. Christine Tanner
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  6. Orcun Goksel
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Correspondence to Matija Ciganovic.

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The authors declare that they have no conflict of interest.

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All procedures performed in studies involving human participants were in accordance with the ethical standards of the provincial ethics committee and with the 1964 Helsinki declaration and its later amendments or comparable ethical standards.

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Informed consent was obtained from all individual participants included in the study.

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Ciganovic, M., Ozdemir, F., Pean, F. et al. Registration of 3D freehand ultrasound to a bone model for orthopedic procedures of the forearm. Int J CARS 13, 827–836 (2018). https://doi.org/10.1007/s11548-018-1756-0

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  • DOI: https://doi.org/10.1007/s11548-018-1756-0

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