• Shihui Zhang, Shan Jiang, Zhiyong Yang, and Ranlu Liu.
• From the Center for Advanced Mechanisms and Robotics, School of Mechanical Engineering, Tianjin University (SZ, SJ, ZY); and Tianjin Institute of Urology and Department of Urology, Second Hospital of Tianjin Medical University, Hexi District, Tianjin, China (RL).
• Medicine (Baltimore). 2015 Oct 1; 94 (40): e1643e1643.

AbstractTwo-dimensional (2D) ultrasound (US) images are widely used in minimally invasive prostate procedure for its noninvasive nature and convenience. However, the poor quality of US image makes it difficult to be used as guiding utility. To improve the limitation, we propose a multimodality image guided navigation module that registers 2D US images with magnetic resonance imaging (MRI) based on high quality preoperative models. A 2-step spatial registration method is used to complete the procedure which combines manual alignment and rapid mutual information (MI) optimize algorithm. In addition, a 3-dimensional (3D) reconstruction model of prostate with surrounding organs is employed to combine with the registered images to conduct the navigation. Registration accuracy is measured by calculating the target registration error (TRE). The results show that the error between the US and preoperative MR images of a polyvinyl alcohol hydrogel model phantom is 1.37 ± 0.14 mm, with a similar performance being observed in patient experiments.

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