2D-3D Registration for Freehand Prostate Biopsies скачать в хорошем качестве

2D-3D Registration for Freehand Prostate Biopsies

In this paper, we present a 2D to 3D registration framework to compensate for prostate motion and deformations during freehand prostate biopsies. The framework has two major components: 1) to compensate for the gross motions of the prostate, we use the trajectory of a tracked ultrasound probe to limit the solution to the location of the live imaging plane with respect to the pre-procedure 3D ultrasound volume; 2) to compensate for residual deformations, we developed a non-rigid registration method that is constrained using a finite element model (FEM) of the prostate and the surrounding tissue. We validate the proposed framework on 10 prostate biopsy patients and demonstrate a mean target registration error (TRE) of 4.63 mm and 3.15 mm for rigid and FEM-based components, respectively.