Motion and deformation compensation for freehand prostate biopsies
Siavash Khallaghi, Saman Nouranian, Samira Sojoudi, H.A.D.M. Ashab, Lindsay S. Machan, Silvia D. Chang, Peter C. Black, Martin Edwin Gleave, Larry Goldenberg, Purang Abolmaesumi · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2014
In this paper, we present a registration pipeline to compensate for prostate motion and deformation during targeted freehand prostate biopsies. We perform 2D-3D registration by reconstructing a thin-volume around the real-time 2D ultrasound imaging plane. Constrained Sum of Squared Differences (SSD) and gradient descent optimization are used to rigidly align the moving volume to the fixed thin-volume. Subsequently, B-spline de- formable registration is performed to compensate for remaining non-linear deformations. SSD and zero-bounded Limited memory Broyden Fletcher Goldfarb Shannon (LBFGS) optimizer are used to find the optimum B-spline parameters. Registration results are validated on five prostate biopsy patients. Initial experiments suggest thin- volume-to-volume registration to be more effective than slice-to-volume registration. Also, a minimum consistent 2 mm improvement of Target Registration Error (TRE) is achieved following the deformable registration.