Yip Michael C, Adebar Troy K, Rohling Robert N, Salcudean Septimiu E, Nguan Christopher Y
University of British Columbia, British Columbia V6T1Z4, Canada.
Med Image Comput Comput Assist Interv. 2010;13(Pt 2):626-34. doi: 10.1007/978-3-642-15745-5_77.
A novel registration method between 3D ultrasound and stereoscopic cameras is proposed based on tracking a registration tool featuring both ultrasound fiducials and optical markers. The registration tool is pressed against an air-tissue boundary where it can be seen both in ultrasound and in the camera view. By localizing the fiducials in the ultrasound volume, knowing the registration tool geometry, and tracking the tool with the cameras, a registration is found. This method eliminates the need for external tracking, requires minimal setup, and may be suitable for a range of minimally invasive surgeries. A study of the appearance of ultrasound fiducials on an air-tissue boundary is presented, and an initial assessment of the ability to localize the fiducials in ultrasound with sub-millimeter accuracy is provided. The overall accuracy of registration (1.69 +/- 0.60 mm) is a noticeable improvement over other reported methods and warrants patient studies.
基于对一种兼具超声基准点和光学标记的配准工具进行跟踪，提出了一种三维超声与立体相机之间的新型配准方法。将配准工具按压在空气-组织边界上，在超声和相机视图中都能看到该边界。通过在超声容积中定位基准点、了解配准工具的几何形状以及用相机跟踪该工具，即可实现配准。该方法无需外部跟踪，设置要求最低，可能适用于一系列微创手术。本文展示了对空气-组织边界上超声基准点外观的研究，并对在超声中以亚毫米精度定位基准点的能力进行了初步评估。配准的总体精度（1.69±0.60毫米）比其他已报道的方法有显著提高，值得进行患者研究。
