Volume 46, Issue 3 p. 1115-1126
Research Article

Surface-based registration between CT and US for image-guided percutaneous renal access – A feasibility study

João Gomes-Fonseca

Corresponding Author

João Gomes-Fonseca

Life and Health Sciences Research Institute (ICVS), School of Medicine, University of Minho, Braga, Portugal

ICVS/3B's-PT, Government Associate Laboratory, Braga/Guimarães, 4710-057 Portugal

Author to whom correspondence should be addressed. Electronic mail: [email protected]; Telephone: +351 253 604 891.Search for more papers by this author
Sandro Queirós

Sandro Queirós

Life and Health Sciences Research Institute (ICVS), School of Medicine, University of Minho, Braga, Portugal

ICVS/3B's-PT, Government Associate Laboratory, Braga/Guimarães, 4710-057 Portugal

2Ai, Polytechnic Institute of Cávado and Ave, Barcelos, Portugal

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Pedro Morais

Pedro Morais

Life and Health Sciences Research Institute (ICVS), School of Medicine, University of Minho, Braga, Portugal

ICVS/3B's-PT, Government Associate Laboratory, Braga/Guimarães, 4710-057 Portugal

2Ai, Polytechnic Institute of Cávado and Ave, Barcelos, Portugal

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António C. M. Pinho

António C. M. Pinho

Department of Mechanical Engineering, School of Engineering, University of Minho, Guimarães, Portugal

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Jaime C. Fonseca

Jaime C. Fonseca

Algoritmi Center, School of Engineering, University of Minho, Guimarães, Portugal

Department of Industrial Electronics, School of Engineering, University of Minho, Guimarães, Portugal

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Jorge Correia-Pinto

Jorge Correia-Pinto

Life and Health Sciences Research Institute (ICVS), School of Medicine, University of Minho, Braga, Portugal

ICVS/3B's-PT, Government Associate Laboratory, Braga/Guimarães, 4710-057 Portugal

Department of Pediatric Surgery, Hospital of Braga, Braga, Portugal

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Estêvão Lima

Estêvão Lima

Life and Health Sciences Research Institute (ICVS), School of Medicine, University of Minho, Braga, Portugal

ICVS/3B's-PT, Government Associate Laboratory, Braga/Guimarães, 4710-057 Portugal

Deparment of Urology, Hospital of Braga, Braga, Portugal

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João L. Vilaça

João L. Vilaça

Life and Health Sciences Research Institute (ICVS), School of Medicine, University of Minho, Braga, Portugal

ICVS/3B's-PT, Government Associate Laboratory, Braga/Guimarães, 4710-057 Portugal

2Ai, Polytechnic Institute of Cávado and Ave, Barcelos, Portugal

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First published: 28 December 2018
Citations: 3

Abstract

Purpose

As a crucial step in accessing the kidney in several minimally invasive interventions, percutaneous renal access (PRA) practicality and safety may be improved through the fusion of computed tomography (CT) and ultrasound (US) data. This work aims to assess the potential of a surface-based registration technique and establish an optimal US acquisition protocol to fuse two-dimensional (2D) US and CT data for image-guided PRA.

Methods

Ten porcine kidney phantoms with fiducial markers were imaged using CT and three-dimensional (3D) US. Both images were manually segmented and aligned. In a virtual environment, 2D contours were extracted by slicing the 3D US kidney surfaces and using usual PRA US-guided views, while the 3D CT kidney surfaces were transformed to simulate positional variability. Surface-based registration was performed using two methods of the iterative closest point algorithm (point-to-point, ICP1; and point-to-plane, ICP2), while four acquisition variants were studied: (a) use of single-plane (transverse, SPT; or longitudinal, SPL) vs bi-plane views (BP); (b) use of different kidney's coverage ranges acquired by a probe's sweep; (c) influence of sweep movements; and (d) influence of the spacing between consecutive slices acquired for a specific coverage range.

Results

BP view showed the best performance (TRE = 2.26 mm) when ICP2 method, a wide kidney coverage range (20°, with slices spaced by 5°), and a large sweep along the central longitudinal view were used, showing a statistically similar performance (P = 0.097) to a full 3D US surface registration (TRE = 2.28 mm).

Conclusions

An optimal 2D US acquisition protocol was evaluated. Surface-based registration, using multiple slices and specific sweep movements and views, is here suggested as a valid strategy for intraoperative image fusion using CT and US data, having the potential to be applied to other image modalities and/or interventions.

Conflicts of interest

The authors have no conflicts to disclose.