Automatic initialization for 3D bone registration

Pezhman Foroughi, Russell H. Taylor, Gabor Fichtinger

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Scopus citations


In image-guided bone surgery, sample points collected from the surface of the bone are registered to the preoperative CT model using well-known registration methods such as Iterative Closest Point (ICP), These techniques are generally very sensitive to the initial alignment of the datasets. Poor initialization significantly increases the chances of getting trapped local minima. In order to reduce the risk of local minima, the registration is manually initialized by locating the sample points close to the corresponding points on the CT model. In this paper, we present an automatic initialization method that aligns the sample points collected from the surface of pelvis with CT model of the pelvis. The main idea is to exploit a mean shape of pelvis created from a large number of CT scans as the prior knowledge to guide the initial alignment. The mean shape is constant for all registrations and facilitates the inclusion of application-specific information into the registration process. The CT model is first aligned with the mean shape using the bilateral symmetry of the pelvis and the similarity of multiple projections. The surface points collected using ultrasound are then aligned with the pelvis mean shape. This will, in turn, lead to initial alignment of the sample points with the CT model. The experiments using a dry pelvis and two cadavers show that the method can align the randomly dislocated datasets close enough for successful registration. The standard ICP has been used for final registration of datasets.

Original languageEnglish (US)
Title of host publicationMedical Imaging 2008 - Visualization, Image-Guided Procedures, and Modeling
StatePublished - Jun 18 2008
Externally publishedYes
EventMedical Imaging 2008 - Visualization, Image-Guided Procedures, and Modeling - San Diego, CA, United States
Duration: Feb 17 2008Feb 19 2008

Publication series

NameProgress in Biomedical Optics and Imaging - Proceedings of SPIE
ISSN (Print)1605-7422


OtherMedical Imaging 2008 - Visualization, Image-Guided Procedures, and Modeling
Country/TerritoryUnited States
CitySan Diego, CA


  • Automatic initialization
  • Bone atlas
  • ICP
  • Registration

ASJC Scopus subject areas

  • Electronic, Optical and Magnetic Materials
  • Biomaterials
  • Atomic and Molecular Physics, and Optics
  • Radiology Nuclear Medicine and imaging


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