基于灰度的肾脏徒手三维超声和CT图像配准
Intensity-Based Registration of Freehand 3D Ultrasound and CT-scan Images of the Kidney
摘要：
本文提出了一种方法，注册术前计算机断层扫描（CT）体积的稀疏集术中超声（US）切片。在经皮肾穿刺的背景下，目的是将规划信息传递到术中坐标系。通过光学定位校准探头来测量US切片的空间位置。假设在呼吸期间肾脏运动的再现性，并且器官没有变形，该方法在于通过在每个步骤评估US图像集和CT体积之间的相似性来优化刚性6自由度（DOF）变换。CT和US图像之间的相关性自然相当差，图像已经被预处理以增加它们的相似性。在以前研究的医学图像配准的背景下，相关比（CR）的相似性措施被证明是最准确和适当的，特别是与所选择的非导数最小化方案，即Powell-Brent的。将得到的匹配变换与涉及分割的标准刚性表面配准进行比较，关于精度和可重复性。所得结果进行了介绍和讨论。
英文摘要：
This paper presents a method to register a pre-operative Computed-Tomography (CT) volume to a sparse set of intra-operative Ultra-Sound (US) slices. In the context of percutaneous renal puncture, the aim is to transfer planning information to an intra-operative coordinate system. The spatial position of the US slices is measured by optically localizing a calibrated probe. Assuming the reproducibility of kidney motion during breathing, and no deformation of the organ, the method consists in optimizing a rigid 6 Degree Of Freedom (DOF) transform by evaluating at each step the similarity between the set of US images and the CT volume. The correlation between CT and US images being naturally rather poor, the images have been preprocessed in order to increase their similarity. Among the similarity measures formerly studied in the context of medical image registration, Correlation Ratio (CR) turned out to be one of the most accurate and appropriate, particularly with the chosen non-derivative minimization scheme, namely Powell-Brent's. The resulting matching transforms are compared to a standard rigid surface registration involving segmentation, regarding both accuracy and repeatability. The obtained results are presented and discussed.
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