Biomedical Engineering Reference
In-Depth Information
12
Guiding Th
erapeutic Procedures
Philip J. Edwards, David J. Hawkes, Graeme P. Penney,
and Matthew J. Clarkson
CONTENTS
12.1
Introduction.............................................................................................. 254
12.2
Technical Issues........................................................................................ 255
12.2.1
Defining the Operating Room Coordinate System .............. 255
12.2.1.1
Error in Registration of Images
to Physical Space ..................................................... 256
12.2.1.2
Mechanical Localizers............................................. 257
12.2.1.3
Ultrasound Transducers in Air .............................. 257
12.2.1.4
Radio Frequency Tracking ..................................... 257
12.2.1.5
Active
Passive Optical Tracker ............................. 258
12.2.2
Immobilization Techniques ..................................................... 258
12.2.2.1
Stereotactic Frames.................................................. 258
12.2.2.2
Head Clamp ............................................................. 259
12.2.2.3
Molded Devices ....................................................... 259
12.3
3D Image-to-Physical Space Registration ............................................ 260
12.3.1
Preoperative Image Preparation and Planning .................... 260
12.3.2
Point-Based Registration.......................................................... 261
12.3.3
Contour Registration ................................................................ 261
12.3.4
Surface Registration .................................................................. 261
12.3.5
Intensity-Based Registration.................................................... 262
12.4
Intraoperative Imaging ........................................................................... 262
12.4.1
Video ........................................................................................... 263
12.4.1.1
Perspective Calibration........................................... 263
12.4.1.2
Video Registration ................................................... 264
12.4.2
X-ray Fluoroscopy..................................................................... 265
12.4.2.1
Calibration ................................................................ 265
12.4.2.2
Registration .............................................................. 265
12.4.3
Ultrasound Imaging.................................................................. 266
12.4.3.1
Calibration ................................................................ 266
12.4.3.2
Ultrasound Registration ......................................... 268
