Preoperative to Intraoperative Space Registration for Management of Head Injuries

Authors: M. Gooroochurn, M. Ovinis, D. Kerr, K. Bouazza-Marouf, M. Vloeberghs

Abstract:

A registration framework for image-guided robotic surgery is proposed for three emergency neurosurgical procedures, namely Intracranial Pressure (ICP) Monitoring, External Ventricular Drainage (EVD) and evacuation of a Chronic Subdural Haematoma (CSDH). The registration paradigm uses CT and white light as modalities. This paper presents two simulation studies for a preliminary evaluation of the registration protocol: (1) The loci of the Target Registration Error (TRE) in the patient-s axial, coronal and sagittal views were simulated based on a Fiducial Localisation Error (FLE) of 5 mm and (2) Simulation of the actual framework using projected views from a surface rendered CT model to represent white light images of the patient. Craniofacial features were employed as the registration basis to map the CT space onto the simulated intraoperative space. Photogrammetry experiments on an artificial skull were also performed to benchmark the results obtained from the second simulation. The results of both simulations show that the proposed protocol can provide a 5mm accuracy for these neurosurgical procedures.

Keywords: Image-guided Surgery, Multimodality Registration, Photogrammetry, Preoperative to Intraoperative Registration.

Digital Object Identifier (DOI): doi.org/10.5281/zenodo.1082949

References:

[1] J.M. Fitzpatrick, D. L. G. Hill and C. R. Maurer Jr, "Image registration", in Handbook of Medical Imaging II: Medical Image Processing and Analysis , vol. 2, M. Sonka and J. M. Fitzpatrick, Eds. Bellingham, WA: SPIE Press, 2000, pp. 447-513.
[2] J. McInerney and D. W. Roberts, "Frameless stereotaxy of the brain," Mt. Sinai J. Med., vol. 67, Sep. 2000, pp. 300-310.
[3] C. R. Maurer, R. P. Gaston, D. L. G. Hill, M. J. Gleeson, M. G. Taylor, M. R. Fenlon et al., "AcouStick: A Tracked A-Mode Ultrasonography System for Registration in Image-Guided Surgery," LECTURE NOTES IN COMPUTER SCIENCE, 1999, pp. 953-962.
[4] M.J. Citardi, "Computer-aided frontal sinus surgery", Otolaryngol. Clin. North Am., vol. 34, 2001, pp. 111-122.
[5] A.C. Colchester, J. Zhao, K. S. Holton-Tainter, C. J. Henri, N. Maitland, P. T. Roberts et al., "Development and preliminary evaluation of VISLAN, a surgical planning and guidance system using intra-operative video imaging", Med. Image Anal., vol. 1, Mar. 1996, pp. 73-90.
[6] W. E. L. Grimson, G. J. Ettinger, S. J. White, T. Lozano-Perez, W. M. Wells III and R. Kikinis, "An automatic registration method for frameless stereotaxy, image guided surgery, and enhanced reality visualization", Medical Imaging, IEEE Transactions on, vol. 15, 1996, pp. 129-140.
[7] M.J. Clarkson, D. Rueckert, D. L. G. Hill and D. J. Hawkes, "Using photo-consistency to register 2D optical images of the human face to a 3D surface model", IEEE Trans. Pattern Anal. Mach. Intell., vol. 23, 2001, pp. 1266-1280.
[8] P. Viola and W.M. Wells III, "Alignment by Maximization of Mutual Information", International Journal of Computer Vision, vol. 24, 1997, pp. 137-154.
[9] M.J. Clarkson, D. Rueckert, D.L. Hill and D. J. Hawkes, "Registration of multiple video images to preoperative CT for image-guided surgery", Proceedings of SPIE, vol. 3661, 2003, pp. 14-23.
[10] J.M. Fitzpatrick, J.B. West and C.R. Maurer Jr, "Predicting error in rigid-body point-based registration", Medical Imaging, IEEE Transactions, vol. 17, 1998, pp. 694-702.
[11] A-Nasser Ansari and Mohamed Abdel-Mottaleb, "Automatic facial feature extraction and 3D face modelling using two orthogonal views with application to 3D face recognition", Pattern Recognition vol. 38 (12), Dec 2005, pp 2549-2563.
[12] Y.I. Abdel-Aziz. and H.M. Karara, "Direct linear transformation from comparator coordinates into object space coordinates in close-range photogrammetry." Proceedings of the Symposium on Close-Range Photogrammetry, Falls Church, VA: American Society of Photogrammetry, 1971, pp. 1-18.
[13] LIANG CHEN, C.W. ARMSTRONG and D.D. RAFTOPOULOS, "An investigation on the accuracy of three-dimensional space reconstruction using the direct linear transformation technique", Journal of biomechanics, Vol. 27, No. 4, 1994, pp. 493-500,
[14] M.G.P. Cavalcanti, S.S. Rocha and M.W. Vannier, "Craniofacial measurements based on 3D-CT volume rendering: implications for clinical applications", Dentomaxillofacial Radiology, vol. 33, 2004, pp. 170-176.
[15] D.X. Liu, C.L. Wang, L. Liu, Z.Y. Dong, H.F. Ke and Z.Y. Yu, "The accuracy of 3D-CT volume rendering for craniofacial linear measurements", Shanghai Kou Qiang Yi Xue, vol. 15, Oct. 2006., pp. 517-520.
[16] K. Kim, A. Ruprecht, G. Wang, J. Lee, D. Dawson and M. Vannier, "Accuracy of facial soft tissue thickness measurements in personal computer-based multiplanar reconstructed computed tomographic images", Forensic Sci. Int., vol. 155, Dec 1. 2005, pp. 28-34,.
[17] A.A. Waitzman, J.C. Posnick, D.C. Armstrong and G.E. Pron, "Craniofacial skeletal measurements based on computed tomography: Part I. Accuracy and reproducibility", Cleft Palate. Craniofac. J., vol. 29, Mar. 1992, pp. 112-117.
[18] K. Togashi, H. Kitaura, K. Yonetsu, N. Yoshida and T. Nakamura, "Three-Dimensional Cephalometry Using Helical Computer Tomography: Measurement Error Caused by Head Inclination", Angle Orthod., vol. 72, 2002, pp. 513-520.