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Proceedings Paper

Fast algorithm for probabilistic bone edge detection (FAPBED)
Author(s): Danilo Scepanovic; Joshua Kirshtein; Ameet Kumar Jain; Russell H. Taylor
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Paper Abstract

The registration of preoperative CT to intra-operative reality systems is a crucial step in Computer Assisted Orthopedic Surgery (CAOS). The intra-operative sensors include 3D digitizers, fiducials, X-rays and Ultrasound (US). FAPBED is designed to process CT volumes for registration to tracked US data. Tracked US is advantageous because it is real time, noninvasive, and non-ionizing, but it is also known to have inherent inaccuracies which create the need to develop a framework that is robust to various uncertainties, and can be useful in US-CT registration. Furthermore, conventional registration methods depend on accurate and absolute segmentation. Our proposed probabilistic framework addresses the segmentation-registration duality, wherein exact segmentation is not a prerequisite to achieve accurate registration. In this paper, we develop a method for fast and automatic probabilistic bone surface (edge) detection in CT images. Various features that influence the likelihood of the surface at each spatial coordinate are combined using a simple probabilistic framework, which strikes a fair balance between a high-level understanding of features in an image and the low-level number crunching of standard image processing techniques. The algorithm evaluates different features for detecting the probability of a bone surface at each voxel, and compounds the results of these methods to yield a final, low-noise, probability map of bone surfaces in the volume. Such a probability map can then be used in conjunction with a similar map from tracked intra-operative US to achieve accurate registration. Eight sample pelvic CT scans were used to extract feature parameters and validate the final probability maps. An un-optimized fully automatic Matlab code runs in five minutes per CT volume on average, and was validated by comparison against hand-segmented gold standards. The mean probability assigned to nonzero surface points was 0.8, while nonzero non-surface points had a mean value of 0.38 indicating clear identification of surface points on average. The segmentation was also sufficiently crisp, with a full width at half maximum (FWHM) value of 1.51 voxels.

Paper Details

Date Published: 29 April 2005
PDF: 13 pages
Proc. SPIE 5747, Medical Imaging 2005: Image Processing, (29 April 2005); doi: 10.1117/12.596950
Show Author Affiliations
Danilo Scepanovic, Johns Hopkins Univ. (United States)
Joshua Kirshtein, Johns Hopkins Univ. (United States)
Ameet Kumar Jain, Johns Hopkins Univ. (United States)
Russell H. Taylor, Johns Hopkins Univ. (United States)


Published in SPIE Proceedings Vol. 5747:
Medical Imaging 2005: Image Processing
J. Michael Fitzpatrick; Joseph M. Reinhardt, Editor(s)

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