Image to physical space registration is a very challenging problem in image guided surgical procedures for the liver due to deformation and paucity of prominent surface anatomical landmarks. Iterative closest point (ICP) algorithm, the surface registration method used for registering the intraoperative laser range scanner (LRS) data with the preoperative CT data in image guided liver surgery, requires a good starting pose to reduce the number of iterations. Currently anatomical landmarks such as vessel bifurcations are used for an initial registration. This paper presents a computational approach to obtain the initial alignment that would reduce contact with probes for registration during surgical procedures. A priori user information about the anatomical orientation of the liver is incorporated and used to orient the point clouds for segmented CT data and LRS liver data. Four points are computationally selected on the anatomical anterior surface of CT point cloud data and corresponding points are localized on the LRS data using the orientation information. These four points are then used to find the rigid transformation using the singular value decomposition method. Nine datasets were tested using the computational approach and the results were compared using the anatomical landmarks method as the "gold standard". Seven of the nine datasets converged to the same solution using both the methods. The computational method, being an approximated approach may increase the number of iterations to converge to the solution. However since the method does not require precise localization of anatomical landmarks, it could potentially reduce OR time.
| Identifer | oai:union.ndltd.org:VANDERBILT/oai:VANDERBILTETD:etd-11072007-144835 |
| Date | 05 December 2007 |
| Creators | Garg, Ishita |
| Contributors | Robert L. Galloway, Michael I. Miga |
| Publisher | VANDERBILT |
| Source Sets | Vanderbilt University Theses |
| Language | English |
| Detected Language | English |
| Type | text |
| Format | application/pdf |
| Source | http://etd.library.vanderbilt.edu/available/etd-11072007-144835/ |
| Rights | unrestricted, I hereby certify that, if appropriate, I have obtained and attached hereto a written permission statement from the owner(s) of each third party copyrighted matter to be included in my thesis, dissertation, or project report, allowing distribution as specified below. I certify that the version I submitted is the same as that approved by my advisory committee. I hereby grant to Vanderbilt University or its agents the non-exclusive license to archive and make accessible, under the conditions specified below, my thesis, dissertation, or project report in whole or in part in all forms of media, now or hereafter known. I retain all other ownership rights to the copyright of the thesis, dissertation or project report. I also retain the right to use in future works (such as articles or books) all or part of this thesis, dissertation, or project report. |
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