Surface registration for use in interactive image-guided liver surgery

Alan J. Herline, Jeannette L. Herring, James D. Stefansic, William C. Chapman, Robert L. Galloway, Benoit M. Dawant

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

12 Scopus citations


Liver surgery is difficult because of limited external landmarks, significant vascularity and inexact definition of intrahepatic anatomy. Intraoperative ultrasound (IOUS) has been widely used in an attempt to overcome these difficulties, but is limited by its two-dimensional nature, interuser variability and image obliteration with ablative or resectional techniques. Because the anatomy of the liver and intra-operative removal of hepatic ligaments make intrinsic or extrinsic point-based registration impractical, we have implemented a surface registration technique to localize physical points for liver phantoms and anatomically placed targets within the liver on CT images. Liver phantoms were created from anatomically correct molds with "tumors" imbedded within the substance of the liver. Helical CT scans were performed with 3 mm slices. Using an optically active position sensor, the surface of the liver was digitized according to anatomical segments. A surface registration was performed and RMS errors of the locations of internal tumors are presented as verification. An initial point based marker registration was performed and considered as the standard for error measurement. Errors for surface-registration were 2.9 mm for the entire surface and 2.8 mm for embedded targets. This is an initial study considering the use of surface registration for the purpose of physical to image registration in the area of liver surgery.

Original languageEnglish
Title of host publicationMedical Image Computing and Computer-Assisted Intervention –MICCAI 1999 - 2nd International Conference, Proceedings
EditorsChris Taylor, Alain Colchester
PublisherSpringer Verlag
Number of pages8
ISBN (Print)354066503X, 9783540665038
StatePublished - 1999
Event2nd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 1999 - Cambridge, United Kingdom
Duration: Sep 19 1999Sep 22 1999

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference2nd International Conference on Medical Image Computing and Computer-Assisted Intervention, MICCAI 1999
Country/TerritoryUnited Kingdom


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