General first-order target registration error model considering a coordinate reference frame in an image-guided surgical
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ORIGINAL ARTICLE
General first-order target registration error model considering a coordinate reference frame in an image-guided surgical system Zhe Min1 · Max Q.-H. Meng1,2 Received: 30 April 2019 / Accepted: 8 September 2020 © International Federation for Medical and Biological Engineering 2020
Abstract Point-based rigid registration (PBRR) techniques are widely used in many aspects of image-guided surgery (IGS). Accurately estimating target registration error (TRE) statistics is of essential value for medical applications such as optically surgical tool-tip tracking and image registration. For example, knowing the TRE distribution statistics of surgical tool tip can help the surgeon make right decisions during surgery. In the meantime, the pose of a surgical tool is usually reported relative to a second rigid body whose local frame is called coordinate reference frame (CRF). In an n-ocular tracking system, fiducial localization error (FLE) should be considered inhomogeneous, that means FLE is different between fiducials, and anisotropic that indicates FLE is different in all directions. In this paper, we extend the TRE estimation algorithm relative to a CRF from homogeneous and anisotropic to heterogeneous FLE cases. Arbitrary weightings can be assumed in solving the registration problems in the proposed TRE estimation algorithm. Monte Carlo simulation results demonstrate the proposed algorithm’s effectiveness for both homogeneous and inhomogeneous FLE distributions. The results are further compared with those using the other two algorithms. When FLE distribution is anisotropic and homogeneous, the proposed TRE estimation algorithm’s performance is comparable with that of the first one. When FLE distribution is heterogeneous, proposed TRE estimation algorithm outperforms the other two classical algorithms in all test cases when ideal weighting scheme is adopted in solving two registrations. Possible clinical applications include the online estimation of surgical tool-tip tracking error with respect to a CRF in IGS. Keywords Target registration error model · N-ocular tracking system · Coordinate reference frame
1 Introduction Image-guided surgery (IGS) is the technique that can help significantly improve the surgical outcome by providing the accurate image guidance for the surgeon during surgery [58, 61]. Several essential components are involved in IGS [42, 48, 58]: (1) interactive surgical planning where the surgical plan including the surgical path and entry point is tailored for a specific patient with the patient’s computed tomography (CT) or magnetic resonance imaging Max Q.-H. Meng
[email protected] Zhe Min [email protected] 1
Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong SAR, N.T., Hong Kong
2
Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China
(MRI) images; (2) surgical instrument tracking where the pose of the surgical tool in the tracking system coordinate frame is acquired during surgery;
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