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Breathing motion compensated registration of laparoscopic liver ultrasound to CT

Ramalhinho, J; Robu, M; Thompson, S; Edwards, P; Schneider, C; Gurusamy, K; Hawkes, D; ... Clarkson, MJ; + view all (2017) Breathing motion compensated registration of laparoscopic liver ultrasound to CT. In: Webster, RJ and Fei, B, (eds.) Proceedings of SPIE 10135 Medical Imaging 2017: Image-Guided Procedures, Robotic Interventions, and Modeling. (pp. 101352V-1-101352V-9). SPIE-INT SOC OPTICAL ENGINEERING: Orlando, Florida, United States. Green open access

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Abstract

Laparoscopic Ultrasound (LUS) is regularly used during laparoscopic liver resection to locate critical vascular structures. Many tumours are iso-echoic, and registration to pre-operative CT or MR has been proposed as a method of image guidance. However, factors such as abdominal insufflation, LUS probe compression and breathing motion cause deformation of the liver, making this task far from trivial. Fortunately, within a smaller local region of interest a rigid solution can suffice. Also, the respiratory cycle can be expected to be consistent. Therefore, in this paper we propose a feature-based local rigid registration method to align tracked LUS data with CT while compensating for breathing motion. The method employs the Levenberg-Marquardt Iterative Closest Point (LMICP) algorithm, registers both on liver surface and vessels and requires two LUS datasets, one for registration and another for breathing estimation. Breathing compensation is achieved by fitting a 1D breathing model to the vessel points. We evaluate the algorithm by measuring the Target Registration Error (TRE) of three manually selected landmarks of a single porcine subject. Breathing compensation improves accuracy in 77% of the measurements. In the best case, TRE values below 3mm are obtained. We conclude that our method can potentially correct for breathing motion without gated acquisition of LUS and be integrated in the surgical workflow with an appropriate segmentation.

Type: Proceedings paper
Title: Breathing motion compensated registration of laparoscopic liver ultrasound to CT
Event: Conference on Medical Imaging - Image-Guided Procedures, Robotic Interventions, and Modeling
Location: Orlando, FL
Dates: 14 February 2017 - 16 February 2017
ISBN-13: 978-1-5106-0716-3
Open access status: An open access version is available from UCL Discovery
DOI: 10.1117/12.2254488
Publisher version: https://doi.org/10.1117/12.2254488
Language: English
Additional information: This version is the version of record. For information on re-use, please refer to the publisher’s terms and conditions.
Keywords: Multi-modality fusion, laparoscopic liver ultrasound, computed tomography, image registration, electromagnetic tracking, liver surface digitisation, breathing motion compensation
UCL classification: UCL
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci
UCL > Provost and Vice Provost Offices > School of Life and Medical Sciences > Faculty of Medical Sciences > Div of Surgery and Interventional Sci > Department of Surgical Biotechnology
UCL > Provost and Vice Provost Offices > UCL BEAMS
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Computer Science
UCL > Provost and Vice Provost Offices > UCL BEAMS > Faculty of Engineering Science > Dept of Med Phys and Biomedical Eng
URI: https://discovery.ucl.ac.uk/id/eprint/1550631
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