Siavash Khallaghi C Antonio Sánchez Saman Nouranian Samira Sojoudi Silvia Chang Hamidreza Abdi Lindsay Machan Alison Harris Peter Black Martin ID: 931873
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Slide1
A 2D-3D Registration Framework for Freehand TRUS-Guided Prostate Biopsy
Siavash
Khallaghi
,
C. Antonio
Sánchez,
Saman
Nouranian
, Samira
Sojoudi
,
Silvia
Chang,
Hamidreza
Abdi,
Lindsay
Machan
, Alison Harris,
Peter
Black,
Martin
Gleave
,
Larry
Goldenberg,
S
. Sidney
Fels
, and
Purang
Abolmaesumi
Robotics and Control Laboratory,
University of British Columbia, Vancouver, Canada
Slide22
Roger S Kirby and Manish I Patel.
Fast facts: Prostate cancer. Health Press, 2012
Prostate
Roger S Kirby and Manish I Patel.
Fast facts: Prostate cancer. Health Press, 2012
Slide3Roger S Kirby and Manish I Patel.
Fast facts: Prostate cancer. Health Press, 2012
Roger S Kirby and Manish I Patel.
Fast facts: Prostate cancer. Health Press, 2012
Slide4Roger S Kirby and Manish I Patel.
Fast facts: Prostate cancer. Health Press, 2012
Most common cancer in men
(
excluding non-melanoma skin
cancer)
Prostate Cancer
Affects 1 in 8 during lifetime
Detection:
Digital rectal exam
High PSA
Core needle biopsy
Roger S Kirby and Manish I Patel.
Fast facts: Prostate cancer. Health Press, 2012
Slide5Needle
Biopsy Gun
Needle Guide
Endocavity
Ultrasound Probe
Slide66
Tissue samples tested in lab
Prostate
Biopsy
30% false negatives
Roger S Kirby and Manish I Patel.
Fast facts: Prostate cancer. Health Press, 2012
Frequent need
to re-biopsy
Slide77
3D Guidance
Pre-procedure 3D image
Plan:
Tracked TRUS probe
Roger S Kirby and Manish I Patel.
Fast facts: Prostate cancer. Health Press, 2012
Slide88
Roger S Kirby and Manish I Patel.
Fast facts: Prostate cancer. Health Press, 2012
Challenge:
2D – 3D registration required
Prostate
moves
and
deforms
Probe tracking not sufficient
Slide93D Guidance Framework
Reference Volume
Slice-to-Volume Registration
Rigid registration for bulk motion
Non-rigid registration for
residual motion, deformations
Pre-procedure axial sweep
Volume reconstructionTarget planning
Target registration error: 3.15
±
0.81 mm
Slide10Rigid Registration
Trajectory-based constraint:
Pre-procedure a
xial sweep traces rectal wall
Live 2D slice should also fall on rectal wall
Constrain probe tip to trajectory
Image-based metric
Sum-of-squared distances (SSD)
Lots of local minima:
Limited spatial information
Low SNR of TRUS
Motion of prostate
Slide11Rigid Registration
Slide12Non-Rigid Registration
Finite element-based method:
Incorporates physical properties of the tissue
Simultaneously minimize strain and image SSD
Slide1313
Non-Rigid Registration
Slide142D Target Slice
Initialization
Example Registration
Slide152D Target Slice
Rigid Registration
Example Registration
Slide16Registration Results
Target
Initial
Rigid
FEM-Based
Slide17C. Antonio Sánchez
Dept
of Elec & Comp
Eng
University of British Columbia
Vancouver, BC, Canadaantonios@ece.ubc.ca
Siavash
KhallaghiDept of Elec & Comp EngUniversity of British Columbia
Vancouver, BC, Canada
siavashk@ece.ubc.ca