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Point cloud registration algorithm using liver vascular skeleton feature with computed tomography and ultrasonography

Satoshi Miura1, Masayuki Nakayama2, Kexin Xu3

  • 1Institute of Science Tokyo, Tokyo, Japan. miura.s.17a5@m.isct.ac.jp.

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This study introduces a new algorithm for fusing ultrasound and computed tomography images for liver cancer surgery. The method uses vascular point cloud features for accurate and rapid image registration, improving radiofrequency ablation procedures.

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Area of Science:

  • Medical Imaging
  • Surgical Navigation
  • Computational Geometry

Background:

  • Accurate image fusion is crucial for ultrasound-guided liver cancer surgery.
  • Conventional methods for fusing ultrasound and computed tomography (CT) images face accuracy challenges.
  • Advancements in radiofrequency ablation necessitate improved image registration techniques.

Purpose of the Study:

  • To develop a novel algorithm for cross-source point cloud registration between ultrasound and CT images.
  • To enhance the accuracy and speed of image fusion for liver cancer interventions.
  • To utilize geometric features of vascular point clouds for improved registration.

Main Methods:

  • Developed a fusion system for cross-source point cloud registration using ultrasound and CT data.
  • Extracted vascular point cloud features including nodes, skeletons, and geometric attributes.
  • Implemented a registration algorithm based on these vascular geometric features.

Main Results:

  • Achieved a registration error within 1.4 mm in a liver dummy model.
  • Significantly reduced target registration error compared to existing methods.
  • Demonstrated an average RMSE of 2.23 mm for human liver vascular skeletons.

Conclusions:

  • The proposed vascular feature point cloud registration method enables rapid and accurate fusion of ultrasound and CT images.
  • This technique is beneficial for real-time puncture surgery in radiofrequency ablation for liver cancer.
  • Future work will involve clinical evaluation in patients.