Robust nonrigid registration to capture brain shift from intraoperative MRI.
We present a new algorithm to register 3-D preoperative magnetic resonance (MR) images to intraoperative MR images of the brain which have undergone brain shift. This algorithm relies on a robust estimation of the deformation from a sparse noisy set of measured displacements. We propose a new framework to compute the displacement field in an iterative process, allowing the solution to gradually move from an approximation formulation (minimizing the sum of a regularization term and a data error term) to an interpolation formulation (least square minimization of the data error term). An outlier rejection step is introduced in this gradual registration process using a weighted least trimmed squares approach, aiming at improving the robustness of the algorithm. We use a patient-specific model discretized with the finite element method in order to ensure a realistic mechanical behavior of the brain tissue. To meet the clinical time constraint, we parallelized the slowest step of the algorithm so that we can perform a full 3-D image registration in 35 s (including the image update time) on a heterogeneous cluster of 15 personal computers. The algorithm has been tested on six cases of brain tumor resection, presenting a brain shift of up to 14 mm. The results show a good ability to recover large displacements, and a limited decrease of accuracy near the tumor resection cavity.
Clatz
Olivier
O
Epidaure Research Project, INRIA Sophia Antipolis, 06902 Sophia Antipolis Cedex, France. olivier.clatz@sophia.inria.fr
Delingette
Hervé
H
Talos
Ion-Florin
IF
Golby
Alexandra J
AJ
Kikinis
Ron
R
Jolesz
Ferenc A
FA
Ayache
Nicholas
N
Warfield
Simon K
SK
D000465:Algorithms; D001185:Artificial Intelligence; D001932:Brain Neoplasms / Q000473:pathology* / Q000503:physiopathology / Q000601:surgery*; D003198:Computer Simulation; D004548:Elasticity; D006801:Humans; D007089:Image Enhancement / Q000379:methods*; D007090:Image Interpretation, Computer-Assisted / Q000379:methods*; D021621:Imaging, Three-Dimensional / Q000379:methods; D007430:Intraoperative Care / Q000379:methods; D008279:Magnetic Resonance Imaging / Q000379:methods*; D008954:Models, Biological; D009038:Motion; D038361:Neuronavigation / Q000379:methods*; D015203:Reproducibility of Results; D012680:Sensitivity and Specificity; D013382:Subtraction Technique; D025321:Surgery, Computer-Assisted / Q000379:methods*; D014584:User-Computer Interface