title: Rendering-Based Video-CT Registration with Physical Constraints for Image-Guided Endoscopic Sinus Surgery.
abstract: We present a system for registering the coordinate frame of an endoscope to pre- or intra- operatively acquired CT data based on optimizing the similarity metric between an endoscopic image and an image predicted via rendering of CT. Our method is robust and semi-automatic because it takes account of physical constraints, specifically, collisions between the endoscope and the anatomy, to initialize and constrain the search. The proposed optimization method is based on a stochastic optimization algorithm that evaluates a large number of similarity metric functions in parallel on a graphics processing unit. Images from a cadaver and a patient were used for evaluation. The registration error was 0.83 mm and 1.97 mm for cadaver and patient images respectively. The average registration time for 60 trials was 4.4 seconds. The patient study demonstrated robustness of the proposed algorithm against a moderate anatomical deformation.
authors.affiliation: Department of Computer Science, Johns Hopkins University, Baltimore MD, USA ; Graduate School of Information Science, Nara Institute of Science and Technology, Nara, Japan.
authors.forename: Y
authors.initials: Y
authors.lastname: Otake
authors.affiliation: Department of Computer Science, Johns Hopkins University, Baltimore MD, USA.
authors.forename: S
authors.initials: S
authors.lastname: Leonard
authors.affiliation: Department of Computer Science, Johns Hopkins University, Baltimore MD, USA.
authors.forename: A
authors.initials: A
authors.lastname: Reiter
authors.affiliation: Department of Computer Science, Johns Hopkins University, Baltimore MD, USA.
authors.forename: P
authors.initials: P
authors.lastname: Rajan
authors.affiliation: Department of Boimedical Engineering, Johns Hopkins University, Baltimore MD, USA.
authors.forename: J H
authors.initials: JH
authors.lastname: Siewerdsen
authors.affiliation: Department of Otolaryngology - Head and Neck Surgery, Johns Hopkins University, Baltimore MD, USA.
authors.forename: G L
authors.initials: GL
authors.lastname: Gallia
authors.affiliation: Department of Otolaryngology - Head and Neck Surgery, Johns Hopkins University, Baltimore MD, USA.
authors.forename: M
authors.initials: M
authors.lastname: Ishii
authors.affiliation: Department of Computer Science, Johns Hopkins University, Baltimore MD, USA.
authors.forename: R H
authors.initials: RH
authors.lastname: Taylor
authors.affiliation: Department of Computer Science, Johns Hopkins University, Baltimore MD, USA.
authors.forename: G D
authors.initials: GD
authors.lastname: Hager
keywords: Image-guided endoscopic surgery; endoscopic sinus surgery; rendering-based Video-CT registration