Kalman Filtering for Frame-by-Frame CT to Ultrasound Rigid Registration

Authors:
Haydar Talib;Matthias Peterhans;Jaime García;Martin Styner;Miguel A. González Ballester
Affiliations:
MEM Research Center, Institute for Surgical Technology and Biomechanics, University of Bern, Switzerland;MEM Research Center, Institute for Surgical Technology and Biomechanics, University of Bern, Switzerland;MEM Research Center, Institute for Surgical Technology and Biomechanics, University of Bern, Switzerland;Departments of Computer Science and Psychiatry, Neurodevelopmental Disorders Research Center, University of North Carolina at Chapel Hill, USA;MEM Research Center, Institute for Surgical Technology and Biomechanics, University of Bern, Switzerland
Venue:
MIAR '08 Proceedings of the 4th international workshop on Medical Imaging and Augmented Reality
Year:
2008

Citing 3
Cited 0

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Abstract

This paper presents a method for CT-US rigid registration in minimally-invasive computer-assisted orthopaedic surgery, whereby the registration procedure is reformulated to enable effectively real-time registrations. A linear Kalman filter based algorithm is compared to an Unscented Kalman filter based method in simulated and experimental scenarios. The validation schemes demonstrate that the linear Kalman filter is more accurate, more robust, and converges quicker than the UKF, yielding an effectively real-time method for rigid registration applications, circumventing surgeons' waiting times.