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Biomechanically Constrained Surface Registration: Application to MR-TRUS Fusion for Prostate Interventions

Siavash Khallaghi, C. Antonio Sanchez, Joy Sun, Farhad Imani, Amir Khojaste Galesh Khale, Orcun Goksel, Abtin Rasoulian, Cesare Romagnoli, Hamidreza Abdi, Silvia Chang, Parvin Mousavi, Aaron Fenster, Aaron Ward, Sidney Fels, Purang Abolmaesumi
IEEE Transactions on Medical Imaging
Vol. 34, No. 11, pp. 2404-2414, 2015


In surface-based registration for image-guided interventions, the presence of missing data can be a significant issue. This often arises with real-time imaging modalities such as ultrasound, where poor contrast can make tissue boundaries difficult to distinguish from surrounding tissue. Missing data poses two challenges: ambiguity in establishing correspondences; and extrapolation of the deformation field to those missing regions. To address these, we present a novel non-rigid registration method. For establishing correspondences, we use a probabilistic framework based on a Gaussian mixture model (GMM) that treats one surface as a potentially partial observation. To extrapolate and constrain the deformation field, we incorporate biomechanical prior knowledge in the form of a finite element model (FEM). We validate the algorithm, referred to as GMM-FEM, in the context of prostate interventions. Our method leads to a significant reduction in target registration error (TRE) compared to similar state-of-the-art registration algorithms in the case of missing data up to 30%, with a mean TRE of 2.6 mm. The method also performs well when full segmentations are available, leading to TREs that are comparable to or better than other surface-based techniques. We also analyze robustness of our approach, showing that GMM-FEM is a practical and reliable solution for surface-based registration.

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  author = {Siavash Khallaghi and C. Antonio Sanchez and Joy Sun and Farhad Imani and Amir Khojaste Galesh Khale and Orcun Goksel and Abtin Rasoulian and Cesare Romagnoli and Hamidreza Abdi and Silvia Chang and Parvin Mousavi and Aaron Fenster and Aaron Ward and Sidney Fels and Purang Abolmaesumi},
  title = {Biomechanically Constrained Surface Registration: Application to MR-TRUS Fusion for Prostate Interventions},
  journal = {IEEE Transactions on Medical Imaging},
  year = {2015},
  month = {},
  pages = {2404-2414},
  volume = {34},
  number = {11},
  keywords = {}