Fast Registration of CT with Intra-operative Ultrasound Images for Spine Surgery

  • Houssem-Eddine GueziriEmail author
  • D. Louis Collins
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11397)


Intra-operative ultrasound (iUS) has a considerable potential for image-guided navigation in spinal fusion surgery. Accurate registration of pre-operative computed tomography (CT) images to the iUS images is crucial for guidance. However, low image quality and bone-related artifacts in iUS render the task challenging. This paper presents a GPU-based fast CT-to-iUS rigid registration framework of a single vertebra designed for image-guided spine surgery. First, the framework involves a straightforward iUS acquisition procedure consisting in a single sweep in the cranio-caudal axis, which allows to roughly determine the initial alignment between CT and iUS images. Then, using this as a starting point, the registration is refined by aligning the gradients that are located on the posterior surface of the vertebra to obtain the final transformation. We validated our approach on a lumbosacral section of a porcine cadaver with images from T15 to L6 vertebrae. The median target registration error was 1.48 mm (\(\text {IQR} = 0.68\,\text {mm}\)), which is below the clinical acceptance threshold of 2 mm. The total registration time was \(10.79\,\text {s} \pm 1.27\,\text {s}\). We believe that our approach matches the clinical needs in terms of accuracy and computation time, which makes it a potential solution to be integrated into the surgical workflow.


Vertebra registration Spine surgery Ultrasound Computed tomography GPU 


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© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.McConnell Brain Imaging CenterMontreal Neurological Institute and HospitalMontrealCanada

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