IEEE Trans Med Imaging. 2012 Nov;31(11):2133-42. doi: 10.1109/TMI.2012.2215049. Epub 2012 Aug 23.
In this study we evaluated a new method for registering three-dimensional ultrasound (3DUS) data to external coordinate systems. First, 3DUS was registered to the stereo endoscope of a da Vinci Surgical System by placing a registration tool against an air-tissue boundary so that the 3DUS could image ultrasound fiducials while the stereo endoscope could image camera markers on the same tool. The common points were used to solve the registration between the 3DUS and camera coordinate systems. The target registration error (TRE) when imaging through a PVC tissue phantom ranged from 3.85 1.76 mm to 1.82 1.03 mm using one to four registration tool positions. TRE when imaging through an ex-vivo liver tissue sample ranged from 2.36 1.01 mm to 1.51 0.70 mm using one to four registration tool positions. Second, using a similar method, 3DUS was registered to the kinematic coordinate system of a da Vinci Surgical System by using the da Vinci surgical manipulators to identify common points on an air-tissue boundary. TRE when imaging through a PVC tissue phantom was 0.95 0.38 mm. This registration method is simpler and potentially more accurate than methods using commercial motion tracking systems. This method may be useful in the future in augmented reality systems for laparoscopic and robotic-assisted surgery.
在这项研究中，我们评估了一种将三维超声（3DUS）数据注册到外部坐标系的新方法。首先，通过将注册工具放置在气-组织边界上来将 3DUS 注册到达芬奇手术系统的立体内窥镜，以便 3DUS 可以在同一工具上成像超声基准标记，同时立体内窥镜可以成像相机标记。共同的点被用来解决 3DUS 和相机坐标系之间的注册问题。在通过 PVC 组织体模成像时，使用一个到四个注册工具位置的目标注册误差（TRE）范围为 3.85 1.76 毫米至 1.82 1.03 毫米。在通过离体肝组织样本成像时，使用一个到四个注册工具位置的 TRE 范围为 2.36 1.01 毫米至 1.51 0.70 毫米。其次，使用类似的方法，通过使用达芬奇手术操纵器识别气-组织边界上的共同点，将 3DUS 注册到达芬奇手术系统的运动坐标系。在通过 PVC 组织体模成像时的 TRE 为 0.95 0.38 毫米。这种注册方法比使用商业运动跟踪系统的方法更简单，并且潜在地更准确。这种方法将来可能在腹腔镜和机器人辅助手术的增强现实系统中有用。
