Compensating for intraoperative soft-tissue deformations using incomplete surface data and finite elements

IEEE Transactions on Medical Imaging

Volumn 24, Issue 11, 2005, Pages 1479-1491

  Cash, David M ^a,b   Miga, Michael I ^a,b   Sinha, Tuhin K ^b   Galloway, Robert L ^b   Chapman, William C ^c  

^a IEEE   (United States)

^b VANDERBILT UNIVERSITY   (United States)

^c WASHINGTON UNIVERSITY SCHOOL OF MEDICINE   (United States)

Author keywords

Deformation identification; Finite element modeling; Organ deformation; Registration

Indexed keywords

DEFORMATION IDENTIFICATION; FINITE ELEMENT MODELING; ORGAN DEFORMATION; REGISTRATION;

ALGORITHMS; BIOLOGICAL ORGANS; DATA ACQUISITION; DEFORMATION; FINITE ELEMENT METHOD; MATHEMATICAL MODELS;

TISSUE;

ALGORITHM; ARTICLE; ARTIFACT; ARTIFICIAL INTELLIGENCE; BIOLOGICAL MODEL; COMPUTER ASSISTED DIAGNOSIS; COMPUTER ASSISTED SURGERY; COMPUTER SIMULATION; ELASTICITY; FINITE ELEMENT ANALYSIS; HUMAN; IMAGE QUALITY; IMAGE SUBTRACTION; INSTRUMENTATION; LIVER; LIVER RESECTION; METHODOLOGY; PATHOPHYSIOLOGY; RADIOGRAPHY; THREE DIMENSIONAL IMAGING;

ALGORITHMS; ARTIFACTS; ARTIFICIAL INTELLIGENCE; COMPUTER SIMULATION; ELASTICITY; FINITE ELEMENT ANALYSIS; HEPATECTOMY; HUMANS; IMAGING, THREE-DIMENSIONAL; LIVER; MODELS, BIOLOGICAL; PHANTOMS, IMAGING; RADIOGRAPHIC IMAGE ENHANCEMENT; RADIOGRAPHIC IMAGE INTERPRETATION, COMPUTER-ASSISTED; SUBTRACTION TECHNIQUE; SURGERY, COMPUTER-ASSISTED;

EID: 27744448786     PISSN: 02780062     EISSN: None     Source Type: Journal    
DOI: 10.1109/TMI.2005.855434     Document Type: Article

References (54)

1. B. Horn, "Closed-form solution of absolute orientation using unit quaternions," J. Opt. Soc. Amer., vol. 4, pp. 629-642, 1987.
2. P. H. Schonemann, "A generalized solution of the orthogonal procrustes problem," Psychometrika, vol. 31, pp. 1-10, 1966.
3. K. Arun, T. Huang, and S. D. Blostein, "Least-squares fitting of 2 3-D point sets," IEEE Trans. Pattern Anal. Mach. Intell., vol. 9, no. 5, pp. 699-700, Sep. 1987.
4. D. Roberts, A. Hartov, F. Kennedy, M. Miga, and K. Paulsen, "Intraoperative brain shift and deformation: A quantitative analysis of cortical displacement in 28 cases," Neurosurgery, vol. 43, no. 4, pp. 749-758, Oct. 1998.
5. D. Hill, C. Maurer, R. Maciunas, J. Barwise, J. Fitzpatrick, and M. Wang, "Measurement of intraoperative brain surface deformation under a craniotomy," Neurosurgery, vol. 43, no. 3, pp. 514-526, 1998.
6. A. Nabavi, P. Black, D. Gering, C. Westin, V. Mehta, R. Pergolizzi, M. Ferrant, S. Warfield, N. Hata, R. Schwartz, W. Wells, R. Kikinis, and F. Jolesz, "Serial intraoperative magnetic resonance imaging of brain shift," Neurosurgery, vol. 48, no. 4, pp. 787-797, 2001.
7. C. Nimsky, O. Ganslandt, S. Cerny, P. Hastreiter, G. Greiner, and R. Fahlbusch, "Quantification of, visualization of, and compensation for brain shift using intraoperative magnetic resonance imaging," Neurosurgery, vol. 47, no. 5, pp. 1070-1079, 2000.
8. C. R. Maurer, D. L. G. Hill, A. J. Martin, H. Y. Liu, M. McCue, D. Rueckert, D. Lloret, W. A. Hall, R. E. Maxwell, D. J. Hawkes, and C. L. Truwit, "Investigation of intraoperative brain deformation using a 1.5-T interventional mr system: Preliminary results," IEEE Trans. Med. Imag., vol. 17, no. 5, pp. 817-825, Oct. 1998.
9. R. Szeliski and S. Lavallee, "Matching 3-D anatomical surfaces with nonrigid deformations using octree-splines," Int. J. Comput. Vis., vol. 18, no. 2, pp. 171-186, 1996.
10. M. Audette, K. Siddiqi, F. Ferrie, and T. Peters, "An integrated range-sensing, segmentation and registration framework for the characterization of intra-surgical brain deformations in image-guided surgery," Comput. Vis. Image Understanding, vol. 89, no. 2-3, pp. 226-251, 2003.
11. H. Chui and A. Rangarajan, "A new point matching algorithm for nonrigid registration," Comput. Vis. Image Understanding, vol. 89, pp. 114-141, 2003.
12. J. Feldmar and N. Ayache, "Rigid, affine and locally affine registration of free-form surfaces," Int. J. Comput. Vis., vol. 18, no. 2, pp. 99-119, 1996.
13. P. Laskov and C. Kambhamettu, "Curvature-based algorithms for non-rigid motion and correspondence estimation," IEEE Trans. Pattern Anal. Mach. Intell., vol. 25, no. 10, pp. 1349-1354, Oct. 2003.
14. C. Kambhamettu, D. Goldgof, M. He, and P. Laskov, "3-D nonrigid motion analysis under small deformations," Image Vis. Computing, vol. 21, no. 3, pp. 229-245, 2003.
15. D. Meier and E. Fisher, "Parameter space warping: Shape-based correspondence between morphologically different objects," IEEE Trans. Med. Imag., vol. 21, no. 1, pp. 31-47, Jan. 2002.
16. P. Shi, A. Sinusas, T. Constable, E. Ritman, and S. Duncan, "Point-tracked quantitative analysis of left ventricular surface motion from 3-D image sequences," IEEE Trans. Med. Imag., vol. 19, no. 1, pp. 36-50, Jan. 2000.
17. S. Aylward, J. Jomier, J.-P. Guyon, and S. Weeks, "Intra-operative 3D ultrasound augmentation," in Proc. 2002 IEEE Int. Symp. Biomedical Imaging, 2002, pp. 421-424.
18. A. P. King, J. M. Blackall, G. P. Penney, and D. J. Hawkes, "Tracking liver motion using 3-D ultrasound and a surface-based statistical shape model," in Proc. IEEE Workshop Mathematical Methods in Biomedical Image Analysis, 2001, pp. 145-152.
19. J. M. Blackall, G. P. Penney, A. P. King, A. N. Adam, and D. J. Hawkes, "Tracking alignment of sparse ultrasound with preoperative images of the liver and an interventional plan using models of respiratory motion and deformation," in Proc. SPIE Medical Imaging 2004: Visualization, Image-Guided Procedures, and Display, vol. 5367, 2004, pp. 218-227.
20. M. Miga, K. Paulsen, J. Lemery, S. Eisner, A. Hartov, F. Kennedy, and D. Roberts, "Model-updated image guidance: Initial clinical experiences with gravity- induced brain deformation," IEEE Trans. Med. Imag., vol. 18, no. 10, pp. 866-874, Oct. 1999.
21. M. Miga, K. Paulsen, F. Kennedy, P. Hoopes, A. Hartov, and D. Roberts, "A 3D brain deformation model experiencing comparable surgical loads, " in Proc. 19th Annu. Int. Conf. IEEE Engineering in Medicine and Biology Society, vol. 2, 1997, pp. 773-776.
22. M. Miga, D. Roberts, F. Kennedy, L. Platenik, A. Hartov, K. Lunn, and K. Paulsen, "Modeling of retraction and resection for intraoperative updating of images," Neurosurgery, vol. 49, no. 1, pp. 75-84, Jul. 2001.
23. M. Ferrant, A. Nabavi, B. Macq, F. Jolesz, R. Kikinis, and S. Warfield, "Registration of 3-D intraoperative mr images of the brain using a finite-element biomechanical model," IEEE Trans. Med. Imag., vol. 20, no. 12, pp. 1384-1397, Dec. 2001.
24. O. Skrinjar, A. Nabavi, and J. Duncan, "Model-driven brain shift compensation," Med. Image Anal., vol. 6, no. 4, pp. 361-373, Dec. 2002.
25. K. E. Lunn, K. D. Paulsen, D. W. Roberts, F. E. Kennedy, A. Hartov, and L. A. Platenik, "Nonrigid brain registration: Synthesizing full volume deformation fields from model basis solutions constrained by partial volume intraoperative data," Comput. Vis. Image Understanding, vol. 89, pp. 299-317, 2003.
26. K. S. Hughes, R. Simon, and S. Songhorabodi et al., "Resection of the liver for colorectal-carcinoma metastases - A multiinstitutional study of patterns of recurrence," Surgery, vol. 100, pp. 278-284, 1986.
27. A. J. Herline, J. L. Herring, J. D. Stefansic, W. C. Chapman, R. L. Galloway, and B. M. Dawant, "Surface registration for use in interactive image-guided liver surgery," in Lecture Notes in Computer Science. Berlin, Germany: Springer-Verlag, 1999, vol. 1679,: Medical Imaging Computation and Computer-Assisted Intervention: MICCAI '99, pp. 892-899.
28. P. J. Besl and N. D. McKay, "A method for registration of 3-D shapes," IEEE Trans. Pattern Anal. Mach. Intell., vol. 14, no. 2, pp. 239-256, Feb. 1992.
29. D. M. Cash, T. K. Sinha, W. C. Chapman, H. Terawaki, B. M. Dawant, R. L. Galloway, and M. I. Miga, "Incorporation of a laser range scanner into image-guided liver surgery: Surface acquisition, registration, and tracking," Med. Phys., vol. 30, no. 7, pp. 1671-1682, Jun. 2003.
30. M. Miga, D. Cash, Z. Cao, R. L. Galloway, B. Dawant, and W. Chapman, "Intraoperative registration of the liver for image-guided surgery using laser range scanning and deformable models," Proc. SPIE Medical Imaging 2003, vol. 5029, 2003.
31. D. M. Cash, T. Sinha, C. C. Chen, B. M. Dawant, W. C. Chapman, M. I. Miga, and R. L. Galloway, "Identification of deformation using invariant surface information," Proc. SPIE Medical Imaging 2004, vol. 5367, pp. 140-150, 2004.
32. G. P. Penney, J. M. Blackall, M. S. Hamady, T. Sabharwal, A. Adam, and D. Hawkes, "Registration of freehand 3D ultrasound and magnetic resonance liver images," Med. Image Anal., vol. 8, pp. 81-91, 2004.
33. K. M. Brock, J. M. Balter, L. A. Dawson, M. L. Kessler, and C. R. Meyer, "Automated generation of a four-dimensional model of the liver using warping and mutual information," Med. Phys., vol. 30, no. 6, pp. 1128-1133, Jun. 2003.
34. T. Rohlfing, C. R. Maurer, W. G. O'Dell, and J. H. Zhong, "Modeling liver motion and deformation during the respiratory cycle using intensity-based nonrigid registration of gated MR images," Med. Phys., vol. 31, no. 3, pp. 427-432, Mar. 2004.
35. S. Shimizu, B. Shirato, B. Xo, K. Kagei, T. Nishioka, S. Hashimoto, K. Tsuchiya, H. Aoyama, and K. Miyasaka, "Three-dimensional movement of a liver tumor detected by high- speed magnetic resonance imaging," Radiother. Oncol., vol. 50, no. 3, pp. 367-370, 1999.
36. H. Korin, R. Ehman, S. Riederer, J. Felmlee, and R. Grimm, "Respiratory kinematics of the upper abdominal organs: A quantitative study," Magn. Reson. Med., vol. 23, no. 1, pp. 172-178, Jan. 1992.
37. I. Suramo, M. Paivansalo, and V. Myllyla, "Cranio-caudal movements of the liver, pancreas and kidneys in respiration" Acta Radiol. Diagn. (Stockholm), vol. 25, no. 2, pp. 129-131, 1984.
38. C. Couinaud, Le Foie: Etudes Anatomiques et Chirurgicales. Paris, France: Masson, 1957, Original definition of Couinaud segments for liver.
39. W. H. Press, S. A. Teukolsky, W. T. Vetterling, and B. P. Flannery, Numerical Recipes in C: The Art of Scientific Computing, 2nd ed. New York: Cambridge Unive. Press, 1992.
40. The VXL Homepage - C++ Libraries for Computer Vision Research and Implementation. VXL. [Online]. Available: http://vxl.sourceforge.net/
41. J. Carr, B. Beatson, R. K. adn McCallum, W. Fright, T. McLennan, and T. Mitchell, "Smooth surface reconstruction from noisy range data," in Proc. ACM GRAPHITE 2003, Melbourne, Australia, 2003, pp. 119-126.
42. S. Pan and B. M. Dawant, "Automatic 3D segmentation of the liver from abdominal CT images: A level-set approach," Proc. SPIE Medical Imaging 2001: Image Processing, vol. 4322, pp. 128-138, 2001.
43. Z. Cao, S. Pan, L. Hermoye, and B. Dawant, "The accumulative speed function: A new level set based segmentation technique with an application to mr liver segmentation," IEEE Trans. Med. Imag., to be published.
44. W. Lorensen and H. Cline, "Marching cubes: A high resolution 3D surface construction algorithm," ACM Comput. Graphics, vol. 21, no. 4, pp. 163-169, Jul. 1987.
45. J. Sullivan, G. Charron, and K. Paulsen, "A three-dimensional mesh generator for arbitrary multiple material domains," Finite Elements Anal. Design, vol. 25, no. 3-4, pp. 219-241, 1997.
46. M. S. Engelman and R. Sani, "The implementation of normal and/or tangential boundary conditions in finite element codes for incompressible fluid flow," Int. J. Numerical Meth. Fluids, vol. 2, pp. 225-238, 1982.
47. L. A. Platenik, M. I. Miga, D. Roberts, K. E. Lunn, F. E. Kennedy, A. Hartov, and K. D. Paulsen, "In vivo quantification of retraction deformation modeling for updated image-guidance during neurosurgery," IEEE Trans. Biomed. Eng., vol. 49, no. 8, pp. 823-835, Aug. 2002.
48. S. Balay, W. D. Gropp, L. C. McInnes, and B. F. Smith, Efficienct Management of Parallelism in Object Oriented Numerical Software Libraries. Cambridge, MA: Birkhauser, 1997, pp. 163-202.
49. Y. Saad and M. H. Schultz, "GMRES: A generalized minimal residual algorithm for solving nonsymmetric linear systems," in SIAM J. Sci. Statist. Comput., vol. 7, 1986, pp. 856-869.
50. J. Fitzpatrick, J. West, and C. Maurer, "Predicting error in rigid-body point-based registration," IEEE Trans. Med. Imag., vol. 17, no. 5, pp. 694-702, Oct. 1998.
51. A. E. Johnson and S. B. Kang, "Registration and integration of textured 3D data," Image Vis. Comput., vol. 17, no. 2, pp. 135-147, Feb. 1999.
52. G. Sharp, S. Lee, and D. Wehe, "ICP registration using invariant features," IEEE Trans. Pattern Anal. Mach. Intell., vol. 24, no. 1, pp. 90-102, Jan. 2002.
53. G. Godin, D. Laurendeau, and R. Bergevin, "A method for the registration of attributed range images," in Proc. 3DIM 2001, May 2001, pp. 179-186.
54. P. Bao, J. Warmath, R. L. Galloway, and A. Herline, "Ultrasound to CT registration for image-guided laparoscopic liver surgery," Surgical Endosc., 2004, to be published.