The Rigid Registration of CT and Scanner Dataset for Computer Aided Surgery

Abstract

The main aim of this work was to perform rigid registration of Computed Tomography (CT) and scanner datasets. The surgeon applies CT and scanner datasets in computer aided surgery and performs registration in order to visualize the location of surgical instrument on screen. It is well known fact that the registration procedure is crucial for efficient computer aiding of surgery. Selected algorithm should take into account types of datasets, required accuracy and time of calculations. The algorithms are classified basing on the various criteria: e.g. precision (coarse and fine registration), types of pointset (set of pair of corresponding points – so called point-point method, unorganized sets of points – so called surface registration). The paper presents exemplary results of applying the following algorithms: Landmark Transform (point-point registration), two methods of uninitialized Iterative Closest Point type (surface registration) and a hybrid method. The evaluated factors were: distance error (mean, minimal and maximal value) and running time of algorithm. The algorithms were tested on various datasets: (1) two similar datasets from Computed Tomography (one is geometrically transformed), (2) Computed Tomography dataset and cloud of points recorded using 3D Artec Space Spider scanner. In the first case the mean error values equaled: 102.08 mm – 121.70 mm for uninitialized ICPs methods, 0.005 mm for Landmark Transform method, and 0.0003 mm for hybrid method. The slowest algorithms in our tests were ICPs methods, faster was hybrid algorithm, and the fastest was Landmark Transform method. In the second case the distance errors were evaluated in four selected points, and the smallest errors were: 23.21 mm for uninitialized ICPs method, 0.69 mm for Landmark Transform, 9.03 for hybrid method. All algorithms were relatively slow for these large datasets, the fastest was Landmark Transform. In the second part of research we analysed the Target Registration Error (TRE) for fused Computed Tomography and scanner-recorded dataset. The TRE values equaled 0.7 mm - 2.8 mm. The results of CT – scanner datasets registration highly depend on the similarity of sets, especially their overlapping, but also their resolutions and uniformities.