Initial investigation of an automatic registration algorithm for surgical navigation

Gregory J. Bootsma, Jeffrey H. Siewerdsen, Michael J. Daly, David A. Jaffray

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

Abstract

The procedure required for registering a surgical navigation system prior to use in a surgical procedure is conventionally a time-consuming manual process that is prone to human errors and must be repeated as necessary through the course of a procedure. The conventional procedure becomes even more time consuming when intra-operative 3D imaging such as the C-arm cone-beam CT (CBCT) is introduced, as each updated volume set requires a new registration. To improve the speed and accuracy of registering image and world reference frames in image-guided surgery, a novel automatic registration algorithm was developed and investigated. The surgical navigation system consists of either Polaris (Northern Digital Inc., Waterloo, ON) or Micron Tracker (Claron Technology Inc., Toronto, ON) tracking camera(s), custom software (Cogito running on a PC), and a prototype CBCT imaging system based on a mobile isocentric C-arm (Siemens, Erlangen, Germany). Experiments were conducted to test the accuracy of automatic registration methods for both the Micron Tracker and Polaris tracking cameras. Results indicate the automated registration performs as well as the manual registration procedure using either the Claron or Polaris camera. The average root-mean-squared (rms) observed target registration error (TRE) for the manual procedure was 2.58 +/-0.42 mm and 1.76 +/-0.49 mm for the Polaris and Micron Tracker, respectively. The mean observed TRE for the automatic algorithm was 2.11 +/-0.13 and 2.03 +/-0.3 mm for the Polaris and Micron Tracker, respectively. Implementation and optimization of the automatic registration technique in C-arm CBCT guidance of surgical procedures is underway.

Original languageEnglish (US)
Title of host publicationProceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08
PublisherIEEE Computer Society
Pages3638-3642
Number of pages5
ISBN (Print)9781424418152
DOIs
StatePublished - 2008
Externally publishedYes
Event30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08 - Vancouver, BC, Canada
Duration: Aug 20 2008Aug 25 2008

Publication series

NameProceedings of the 30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08 - "Personalized Healthcare through Technology"

Other

Other30th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBS'08
CountryCanada
CityVancouver, BC
Period8/20/088/25/08

ASJC Scopus subject areas

  • Health Informatics
  • Computer Vision and Pattern Recognition
  • Signal Processing
  • Biomedical Engineering

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