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Ultrasound image registration for biopsy guidance |
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In the framework of soft tissue that may be mobile and deformable, it
may be necessary to perform data fusion regularly and in real-time in order
to update a plan prepared on pre-operative data. One application considered
is prostate biopsy performed under trans-urethral echographic
control. Our interest is about registration of 3D echographic
intra-operative data to 3D pre-op information. A robust voxel-based
multi-scale elastic registration approach has been
developed that makes use of a priori knowledge about the possible
range of motion of the probe in the rectum and induced deformations. The approach successively applies a
systematic pre-search in a restricted space of parameters, a refinement for
rigid registration, and finally a complete elastic registration. This enables
to consider both prostate motions and prostate deformations. Whilst fast this
method was not real-time; it is why we work on a new
approach for real-time tracking of the prostate. |
Top image: unregistered prostate volumes Bottom: (left) affine registration – (right):
elastic registration |
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References: Baumann,
M., Mozer, P., Daanen,
V., & Troccaz, J. (2012). Prostate biopsy tracking with deformation
estimation. Medical image analysis, 16(3), 562-576. (pdf) Baumann, M.
(2008). A 3D ULTRASOUND-BASED TRACKING SYSTEM FOR PROSTATE BIOPSY
DISTRIBUTION QUALITY INSURANCE AND GUIDANCE (Doctoral dissertation, Institut National Polytechnique
de Grenoble-INPG). (pdf) |
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Collaborations: urology departments of APHP La
Pitié Salpétrière (Pr Mozer)
and Grenoble university hospitals
(Pr Descotes). KOELIS Company |
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Status: ACTIVE Transferred to the industry (Urostation and
Trinity, Koelis) and to the clinics (CE, FDA
approvals). A new thesis started on real-time registration by Sonia-Yuki Selmi. |
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