A 2 D3 D Registration Framework for Freehand

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A 2 D-3 D Registration Framework for Freehand TRUS-Guided Prostate Biopsy Siavash Khallaghi, C.

A 2 D-3 D Registration Framework for Freehand TRUS-Guided Prostate Biopsy Siavash Khallaghi, C. Antonio Sánchez, Saman Nouranian, Samira Sojoudi, Silvia Chang, Hamidreza Abdi, Lindsay Machan, Alison Harris, Peter Black, Martin Gleave, Larry Goldenberg, S. Sidney Fels, and Purang Abolmaesumi Robotics and Control Laboratory, University of British Columbia, Vancouver, Canada

Prostate Roger S Kirby and Manish I Patel. Fast facts: Prostate cancer. Health Press,

Prostate Roger S Kirby and Manish I Patel. Fast facts: Prostate cancer. Health Press, 2012 2

Roger S Kirby and Manish I Patel. Fast facts: Prostate cancer. Health Press, 2012

Roger S Kirby and Manish I Patel. Fast facts: Prostate cancer. Health Press, 2012

Prostate Cancer • Most common cancer in men (excluding non-melanoma skin cancer) • Affects

Prostate Cancer • Most common cancer in men (excluding non-melanoma skin cancer) • Affects 1 in 8 during lifetime • Detection: • Digital rectal exam • High PSA • Core needle biopsy Roger S Kirby and Manish I Patel. Fast facts: Prostate cancer. Health Press, 2012

Biopsy Gun Needle Guide Endocavity Ultrasound Probe Needle

Biopsy Gun Needle Guide Endocavity Ultrasound Probe Needle

Prostate Biopsy • Tissue samples tested in lab • 30% false negatives • Frequent

Prostate Biopsy • Tissue samples tested in lab • 30% false negatives • Frequent need to re-biopsy Roger S Kirby and Manish I Patel. Fast facts: Prostate cancer. Health Press, 2012 6

3 D Guidance • Tracked TRUS probe • Pre-procedure 3 D image • Plan:

3 D Guidance • Tracked TRUS probe • Pre-procedure 3 D image • Plan: Roger S Kirby and Manish I Patel. Fast facts: Prostate cancer. Health Press, 2012 7

Challenge: • Prostate moves and deforms • Probe tracking not sufficient • 2 D

Challenge: • Prostate moves and deforms • Probe tracking not sufficient • 2 D – 3 D registration required Roger S Kirby and Manish I Patel. Fast facts: Prostate cancer. Health Press, 2012 8

3 D Guidance Framework Reference Volume Slice-to-Volume Registration • Pre-procedure axial sweep • Volume

3 D Guidance Framework Reference Volume Slice-to-Volume Registration • Pre-procedure axial sweep • Volume reconstruction • Target planning 1. Rigid registration for bulk motion 2. Non-rigid registration for residual motion, deformations • Target registration error: 3. 15 ± 0. 81 mm

Rigid Registration Image-based metric • Sum-of-squared distances (SSD) • Lots of local minima: •

Rigid Registration Image-based metric • Sum-of-squared distances (SSD) • Lots of local minima: • Limited spatial information • Low SNR of TRUS • Motion of prostate Trajectory-based constraint: • Pre-procedure axial sweep traces rectal wall • Live 2 D slice should also fall on rectal wall → Constrain probe tip to trajectory

Rigid Registration

Rigid Registration

Non-Rigid Registration Finite element-based method: • Incorporates physical properties of the tissue • Simultaneously

Non-Rigid Registration Finite element-based method: • Incorporates physical properties of the tissue • Simultaneously minimize strain and image SSD

Non-Rigid Registration 13

Non-Rigid Registration 13

Example Registration 2 D Target Slice Initialization

Example Registration 2 D Target Slice Initialization

Example Registration 2 D Target Slice Rigid Registration

Example Registration 2 D Target Slice Rigid Registration

Registration Results Target Initial Rigid FEM-Based

Registration Results Target Initial Rigid FEM-Based

Siavash Khallaghi Dept of Elec & Comp Eng University of British Columbia Vancouver, BC,

Siavash Khallaghi Dept of Elec & Comp Eng University of British Columbia Vancouver, BC, Canada siavashk@ece. ubc. ca C. Antonio Sánchez Dept of Elec & Comp Eng University of British Columbia Vancouver, BC, Canada antonios@ece. ubc. ca

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