Registration techniques for computer assisted orthopaedic surgery

The registration of 3D preoperative medical data to patients is a key task in developing computer assisted surgery systems. In computer assisted surgery, the patient in the operation theatre must be aligned with the coordinate system in which the preoperative data has been acquired, so that the planned surgery based on the preoperative data can be carried out under the guidance of the computer assisted surgery system.The aim of this research is to investigate registration algorithms for developing computer assisted bone surgery systems. We start with reference mark registration. New interpretations are given to the development of well knowm algorithms based on singular value decomposition, polar decomposition techniques and the unit quaternion representation of the rotation matrix. In addition, a new algorithm is developed based on the estimate of the rotation axis. For non-land mark registration, we first develop iterative closest line segment and iterative closest triangle patch registrations, similar to the well known iterative closest point registration, when the preoperative data are dense enough. We then move to the situation where the preoperative data are not dense enough. Implicit fitting is considered to interpolate the gaps between the data . A new ellipsoid fitting algorithm and a new constructive implicit fitting strategy are developed. Finally, a region to region matching procedure is proposed based on our novel constructive implicit fitting technique. Experiments demonstrate that the new algorithm is very stable and very efficient

3D vasculature segmentation using localized hybrid level-set method

Background: Intensity inhomogeneity occurs in many medical images, especially in vessel images. Overcoming the difficulty due to image inhomogeneity is crucial for the segmentation of vessel image. Methods: This paper proposes a localized hybrid level-set method for the segmentation of 3D vessel image. The proposed method integrates both local region information and boundary information for vessel segmentation, which is essential for the accurate extraction of tiny vessel structures. The local intensity information is firstly embedded into a region-based contour model, and then incorporated into the level-set formulation of the geodesic active contour model. Compared with the preset global threshold based method, the use of automatically calculated local thresholds enables the extraction of the local image information, which is essential for the segmentation of vessel images. Results: Experiments carried out on the segmentation of 3D vessel images demonstrate the strengths of using locally specified dynamic thresholds in our level-set method. Furthermore, both qualitative comparison and quantitative validations have been performed to evaluate the effectiveness of our proposed model. Conclusions: Experimental results and validations demonstrate that our proposed model can achieve more promising segmentation results than the original hybrid method does

Accurate geometry modeling of vasculatures using implicit fitting with 2D radial basis functions

Accurate vascular geometry modeling is an essential task in computer assisted vascular surgery and therapy. This paper presents a vessel cross-section based implicit vascular modeling technique, which represents a vascular surface as a set of locally fitted implicit surfaces. In the proposed method, a cross-section based technique is employed to extract from each cross-section of the vascular surface a set of points, which are then fitted with an implicit curve represented as 2D radial basis functions. All these implicitly represented cross-section curves are then being considered as 3D cylindrical objects and combined together using a certain partial shape-preserving spline to build a complete vessel branch; different vessel branches are then blended using a extended smooth maximum function to construct the complete vascular tree. Experimental results show that the proposed method can correctly represent the morphology and topology of vascular structures with high level of smoothness. Both qualitative comparison with other methods and quantitative validations to the proposed method have been performed to verify the accuracy and smoothness of the generated vascular geometric models

Towards additive manufacturing oriented geometric modeling using implicit functions

Surface-based geometric modeling has many advantages in terms of visualization and traditional subtractive manufacturing using computer-numerical-control cutting-machine tools. However, it is not an ideal solution for additive manufacturing because to digitally print a surface-represented geometric object using a certain additive manufacturing technology, the object has to be converted into a solid representation. However, converting a known surface-based geometric representation into a printable representation is essentially a redesign process, and this is especially the case, when its interior material structure needs to be considered. To specify a 3D geometric object that is ready to be digitally manufactured, its representation has to be in a certain volumetric form. In this research, we show how some of the difficulties experienced in additive manufacturing can be easily solved by using implicitly represented geometric objects. Like surface-based geometric representation is subtractive manufacturing-friendly, implicitly described geometric objects are additive manufacturing-friendly: implicit shapes are 3D printing ready. The implicit geometric representation allows to combine a geometric shape, material colors, an interior material structure, and other required attributes in one single description as a set of implicit functions, and no conversion is needed. In addition, as implicit objects are typically specified procedurally, very little data is used in their specifications, which makes them particularly useful for design and visualization with modern cloud-based mobile devices, which usually do not have very big storage spaces. Finally, implicit modeling is a design procedure that is parallel computing-friendly, as the design of a complex geometric object can be divided into a set of simple shape-designing tasks, owing to the availability of shape-preserving implicit blending operations

Accurate geometry reconstruction of vascular structures using implicit splines

3-D visualization of blood vessel from standard medical datasets (e.g. CT or MRI) play an important role in many clinical situations, including the diagnosis of vessel stenosis, virtual angioscopy, vascular surgery planning and computer aided vascular surgery. However, unlike other human organs, the vasculature system is a very complex network of vessel, which makes it a very challenging task to perform its 3-D visualization. Conventional techniques of medical volume data visualization are in general not well-suited for the above-mentioned tasks. This problem can be solved by reconstructing vascular geometry. Although various methods have been proposed for reconstructing vascular structures, most of these approaches are model-based, and are usually too ideal to correctly represent the actual variation presented by the cross-sections of a vascular structure. In addition, the underlying shape is usually expressed as polygonal meshes or in parametric forms, which is very inconvenient for implementing ramification of branching. As a result, the reconstructed geometries are not suitable for computer aided diagnosis and computer guided minimally invasive vascular surgery. In this research, we develop a set of techniques associated with the geometry reconstruction of vasculatures, including segmentation, modelling, reconstruction, exploration and rendering of vascular structures. The reconstructed geometry can not only help to greatly enhance the visual quality of 3-D vascular structures, but also provide an actual geometric representation of vasculatures, which can provide various benefits. The key findings of this research are as follows: 1. A localized hybrid level-set method of segmentation has been developed to extract the vascular structures from 3-D medical datasets. 2. A skeleton-based implicit modelling technique has been proposed and applied to the reconstruction of vasculatures, which can achieve an accurate geometric reconstruction of the vascular structures as implicit surfaces in an analytical form. 3. An accelerating technique using modern GPU (Graphics Processing Unit) is devised and applied to rendering the implicitly represented vasculatures. 4. The implicitly modelled vasculature is investigated for the application of virtual angioscopy

Constructive implicit fitting

In this paper, we present a constructive method for fitting both an explicit and an implicit curve or surface to a set of scattered points by using gate functions. With this technique, the data are first partitioned with geometric primitives into small data sets such that each sub-data set can be well fitted by a simple algebraic or non-algebraic shape. These simple shapes are then blended to form an overall fitting for the given data. Compared with some conventional fitting techniques, the proposed method has the following distinct features. First of all, a preset accuracy can always be achieved if the data set is sufficiently finely partitioned. Secondly, a large data set can be dealt with as several small data sets, which can significantly reduce the complexity of the shape to be fitted. Thirdly, the proposed fitting technique can also be used to increase the fitting speed by using simple fitting techniques for each sub-data set. Fourthly, the degree of smoothness of the fitted function can be adjusted to be as smooth as one wishes. Furthermore, the fitting technique provides direct support for parallel computation in curve and surface fitting. When a large data set is partitioned into smaller data sets, these small data sets can then be fitted simultaneously over a parallel system. This will greatly reduce computation time. © 2005 Elsevier B.V. All rights reserved