Volume 35 Issue 4
Apr.  2009
Turn off MathJax
Article Contents
Wang Junchen, Wang Tianmiao, Xu Yuan, et al. Registration method based on ICP algorithm for 3D surgical navigation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2009, 35(4): 434-438. (in Chinese)
Citation: Wang Junchen, Wang Tianmiao, Xu Yuan, et al. Registration method based on ICP algorithm for 3D surgical navigation[J]. Journal of Beijing University of Aeronautics and Astronautics, 2009, 35(4): 434-438. (in Chinese)

Registration method based on ICP algorithm for 3D surgical navigation

  • Received Date: 08 Apr 2008
  • Publish Date: 30 Apr 2009
  • Registration between medical images and physical space is an important procedure in 3D surgical navigation systems. A registration method based on ICP (iterative closest point) algorithm was presented. Two point sets, one of which is acquired from physical space by the optical localizer and the other is from a 3D model reconstructed by the marching cube method, were used to calculate the transformation matrix between preoperative CT image space and intraoperative fiducial marker space. The registration procedure was divided into the following two phases. PCA(principal component analysis) was used to calculate the eigenvectors of the two point sets respectively to achieve initial registration. ICP method was used to make the initial transformation matrix to converge into the best solution, in which the k-d tree structure was used to accelerate the procedure. A spine model experiment was carried out and a virtual 3D measurement environment was set up to evaluate the accuracy of the registration method. Error analysis was conducted by adding Gaussian noise to the point sets. The result shows that under this condition the final average registration accuracy is less than 1mm.

     

  • loading
  • [1] Nolte L P, Beutler T. Basic principles of CAOS[J]. Injury, 2004, 35(S1):6-16 [2] 王田苗,刘文勇,胡磊.医用机器人与计算机辅助手术MRCAS进展[J].中国生物医学工程学报, 2008, 27(1):137-145 Wang Tianmiao, Liu Wenyong, Hu Lei. Progresses of medical robotics and computer assisted surgery (MRCAS)[J]. Chinese Journal of Biomedical Engineering,2008,27(1):137-145(in Chinese) [3] Lavallée S. Registration for computer-integrated surgery: methodology, state of art Taylor R H, Lavallée S, Burdea G C, et al. Computer-Integrated Surgery: Technology and Clinical Applications. Cambridge, MA: MIT Press, 1996: 77-97 [4] Besl P J, Mckay N D. A method for registration of 3-d shapes[J]. IEEE Transactions on Pattern Analysis and Machine Intelligence, 1992, 14(2):239-256 [5] Bentley J L. Multidimensional binary search trees used for associative searching[J]. Communications of the ACM, 1975, 18(9):509-517 [6] Hoppe H, DeRose T, Duchamp T, et al. Surface reconstruction from unorganized points[J]. Computer Graphics 1992, 26(2):71-78 [7] Herring J L, Dawant B M, Maurer C R, et al. Surface-based registration of CT images to physical space for image-guided surgery of the spine: a sensitivity study[J]. IEEE Transactions on Medical Imaging, 1998, 17(5):743-752 [8] West J B, Maurer C R. Designing optically tracked instruments for image-guided surgery[J]. IEEE Transactions on Medical Imaging, 2004, 23(5):533-545
  • 加载中

Catalog

    通讯作者: 陈斌, bchen63@163.com
    • 1. 

      沈阳化工大学材料科学与工程学院 沈阳 110142

    1. 本站搜索
    2. 百度学术搜索
    3. 万方数据库搜索
    4. CNKI搜索

    Article Metrics

    Article views(3681) PDF downloads(2877) Cited by()
    Proportional views
    Related

    /

    DownLoad:  Full-Size Img  PowerPoint
    Return
    Return