2D-3D rigid registration to compensate for prostate motion during 3D TRUS-guided biopsy

Tharindu De Silva; Aaron Fenster; Jeffrey Bax; Lori Gardi; Cesare Romagnoli; Jagath Samarabandu; Aaron D. Ward

doi:10.1117/12.912303

17 February 2012 2D-3D rigid registration to compensate for prostate motion during 3D TRUS-guided biopsy

Tharindu De Silva, Aaron Fenster, Jeffrey Bax, Lori Gardi, Cesare Romagnoli, Jagath Samarabandu, Aaron D. Ward

Proceedings Volume 8316, Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling; 83160O (2012) https://doi.org/10.1117/12.912303
Event: SPIE Medical Imaging, 2012, San Diego, California, United States

Abstract

Prostate biopsy is the clinical standard for prostate cancer diagnosis. To improve the accuracy of targeting suspicious locations, systems have been developed that can plan and record biopsy locations in a 3D TRUS image acquired at the beginning of the procedure. Some systems are designed for maximum compatibility with existing ultrasound equipment and are thus designed around the use of a conventional 2D TRUS probe, using controlled axial rotation of this probe to acquire a 3D TRUS reference image at the start of the biopsy procedure. Prostate motion during the biopsy procedure causes misalignments between the prostate in the live 2D TRUS images and the pre-acquired 3D TRUS image. We present an image-based rigid registration technique that aligns live 2D TRUS images, acquired immediately prior to biopsy needle insertion, with the pre-acquired 3D TRUS image to compensate for this motion. Our method was validated using 33 manually identified intrinsic fiducials in eight subjects and the target registration error was found to be 1.89 mm. We analysed the suitability of two image similarity metrics (normalized cross correlation and mutual information) for this task by plotting these metrics as a function of varying parameters in the six degree-of-freedom transformation space, with the ground truth plane obtained from registration as the starting point for the parameter exploration. We observed a generally convex behaviour of the similarity metrics. This encourages their use for this registration problem, and could assist in the design of a tool for the detection of misalignment, which could trigger the execution of a non-real-time registration, when needed during the procedure.

Citation Download Citation

Tharindu De Silva, Aaron Fenster, Jeffrey Bax, Lori Gardi, Cesare Romagnoli, Jagath Samarabandu, and Aaron D. Ward "2D-3D rigid registration to compensate for prostate motion during 3D TRUS-guided biopsy", Proc. SPIE 8316, Medical Imaging 2012: Image-Guided Procedures, Robotic Interventions, and Modeling, 83160O (17 February 2012); https://doi.org/10.1117/12.912303

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