3-D Registration Method based on Scattered Point Cloud from B-model Ultrasound Image

摘要

The paper proposes a registration method on 3D point cloud of the bone tissue surface extracted by B-mode ultrasound image and the CT model . The B-mode ultrasound is used to get two-dimensional images of the femur tissue . The binocular stereo vision tracker is used to obtain spatial position and orientation of the optical positioning device fixed on the ultrasound probe. The combining of the two kind of data generates 3D point cloud of the bone tissue surface. The pixel coordinates of the bone surface are automatically obtained from ultrasound image using an improved local phase symmetry (phase symmetry, PS) . The mapping of the pixel coordinates on the ultrasound image and 3D space is obtained through a series of calibration methods. In order to detect the effect of registration, six markers are implanted on a complete fresh pig femoral .The actual coordinates of the marks are measured with two methods. The first method is to get the coordinates with measuring tools under a coordinate system. The second is to measure the coordinates of the markers in the CT model registered with 3D point cloud using the ICP registration algorithm under the same coordinate system. Ten registration experiments are carried out in the same way. Error results are obtained by comparing the two sets of mark point coordinates obtained by two different methods. The results is that a minimum error is 1.34mm, the maximum error is 3.22mm,and the average error of 2.52mm; ICP registration algorithm calculates the average error of 0.89mm and a standard deviation of 0.62mm.This evaluation standards of registration accuracy is different from the average error obtained by the ICP registration algorithm. It can be intuitive to show the error caused by the operation of clinical doctors. Reference to the accuracy requirements of different operation in the Department of orthopedics, the method can be apply to the bone reduction and the anterior cruciate ligament surgery.