Point-to-volume registration of prostate implants to ultrasound

Ultrasound-Fluoroscopy fusion is a key step toward intraoperative dosimetry for prostate brachytherapy. We propose a method for intensity-based registration of fluoroscopy to ultrasound that obviates the need for seed segmentation required for seed-based registration. We employ image thresholding and morphological and Gaussian filtering to enhance the image intensity distribution of ultrasound volume. Finally, we find the registration parameters by maximizing a point-to-volume similarity metric. We conducted an experiment on a ground truth phantom and achieved registration error of 0.7 +/- 0.2 mm. Our clinical results on 5 patient data sets show excellent visual agreement between the registered seeds and the ultrasound volume with a seed-to-seed registration error of 1.8 +/- 0.9mm. With low registration error, high computational speed and no need for manual seed segmentation, our method is promising for clinical application.