/Techniques For Fast And Accurate Intrasurgical Registration

Techniques For Fast And Accurate Intrasurgical Registration

David Simon, Martial Hebert and Takeo Kanade
Journal Article, Journal of Image Guided Surgery, Vol. 1, No. 1, pp. 17-29, January, 1995

Download Publication (PDF)

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author’s copyright. These works may not be reposted without the explicit permission of the copyright holder.


The goal of intra-surgical registration is to establish a common reference frame between pre-surgical and intra-surgical 3-D data sets that correspond to the same anatomy. This paper presents two novel techniques which have application to this problem: high-speed pose tracking, and intra-surgical data selection. In the first part of this paper, we describe an approach for tracking the pose of arbitrarily-shaped rigid objects at rates up to 10Hz. Static accuracies on the order of 1mm in translation and 1 degree in rotation have been achieved. We have demonstrated the technique on a human face using a high-speed VLSI range sensor; however, the technique is independent of the sensor used or the anatomy tracked. In the second part of this paper, we describe a general purpose approach for selecting near-optimal, intra-surgical registration data. Due to high costs associated with the acquisition of intra-surgical data, it is desirable to minimize the amount of data acquired, while ensuring that registration accuracy requirements are met. We synthesize near-optimal intra-surgical data sets, based upon an analysis of differential surface properties of pre-surgical data. We demonstrate, using data from a human femur, that discrete point data sets selected using our method provide superior pose refinement accuracy to those selected by human experts.

BibTeX Reference
author = {David Simon and Martial Hebert and Takeo Kanade},
title = {Techniques For Fast And Accurate Intrasurgical Registration},
journal = {Journal of Image Guided Surgery},
year = {1995},
month = {January},
volume = {1},
number = {1},
pages = {17-29},