Image-Guided Procedures, Robotic Interventions, and Modeling

Three-dimensional nonrigid landmark-based magnetic resonance to transrectal ultrasound registration for image-guided prostate biopsy

[+] Author Affiliations
Yue Sun, Wu Qiu, Jing Yuan

University of Western Ontario, Imaging Research Laboratories, Robarts Research Institute, London, Ontario N6A 5K8, Canada

Cesare Romagnoli

University of Western Ontario, Department of Medical Imaging, London, Ontario N6A 5K8, Canada

Aaron Fenster

University of Western Ontario, Imaging Research Laboratories, Robarts Research Institute, London, Ontario N6A 5K8, Canada

University of Western Ontario, Department of Medical Imaging, London, Ontario N6A 5K8, Canada

University of Western Ontario, Department of Medical Biophysics, London, Ontario N6A 5K8, Canada

J. Med. Imag. 2(2), 025002 (Jun 24, 2015). doi:10.1117/1.JMI.2.2.025002
History: Received February 6, 2015; Accepted May 27, 2015
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Abstract.  Registration of three-dimensional (3-D) magnetic resonance (MR) to 3-D transrectal ultrasound (TRUS) prostate images is an important step in the planning and guidance of 3-D TRUS guided prostate biopsy. In order to accurately and efficiently perform the registration, a nonrigid landmark-based registration method is required to account for the different deformations of the prostate when using these two modalities. We describe a nonrigid landmark-based method for registration of 3-D TRUS to MR prostate images. The landmark-based registration method first makes use of an initial rigid registration of 3-D MR to 3-D TRUS images using six manually placed approximately corresponding landmarks in each image. Following manual initialization, the two prostate surfaces are segmented from 3-D MR and TRUS images and then nonrigidly registered using the following steps: (1) rotationally reslicing corresponding segmented prostate surfaces from both 3-D MR and TRUS images around a specified axis, (2) an approach to find point correspondences on the surfaces of the segmented surfaces, and (3) deformation of the surface of the prostate in the MR image to match the surface of the prostate in the 3-D TRUS image and the interior using a thin-plate spline algorithm. The registration accuracy was evaluated using 17 patient prostate MR and 3-D TRUS images by measuring the target registration error (TRE). Experimental results showed that the proposed method yielded an overall mean TRE of 3.50±1.34mm for the rigid registration and 2.24±0.71mm for the nonrigid registration, which is favorably comparable to a clinical requirement for an error of less than 2.5 mm. A landmark-based nonrigid 3-D MR-TRUS registration approach is proposed, which takes into account the correspondences on the prostate surface, inside the prostate, as well as the centroid of the prostate. Experimental results indicate that the proposed method yields clinically sufficient accuracy.

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© 2015 Society of Photo-Optical Instrumentation Engineers

Citation

Yue Sun ; Wu Qiu ; Jing Yuan ; Cesare Romagnoli and Aaron Fenster
"Three-dimensional nonrigid landmark-based magnetic resonance to transrectal ultrasound registration for image-guided prostate biopsy", J. Med. Imag. 2(2), 025002 (Jun 24, 2015). ; http://dx.doi.org/10.1117/1.JMI.2.2.025002


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