A comparative analysis of intensity-based 2D-3D registration for intraoperative use in pedicle screw insertion surgeries.

Abstract

Although multiple algorithms have been reported that focus on improving the accuracy of 2D-3D registration techniques, there has been relatively little attention paid to quantifying their capture range. In this paper, we analyze the capture range for a number of variant formulations of the 2D-3D registration problem in the context of pedicle screw insertion surgery. We tested twelve 2D-3D registration techniques for capture range under different clinically realistic conditions. A registration was considered as successful if its error was less than 2mm and 2° in 95% of the cases. We assessed the sensitivity of capture range to a variety of clinically realistic parameters including: X-ray contrast, number and configuration of X-rays, presence or absence of implants in the image, inter-subject variability, intervertebral motion and single-level vs multi-level registration. Gradient correlation + Powell optimizer had the widest capture range and the least sensitivity to X-ray contrast. The combination of 4 AP + lateral X-rays had the widest capture range (725mm2). The presence of implant projections significantly reduced the registration capture range (up to 84%). Different spine shapes resulted in minor variations in registration capture range (SD 78mm2). Intervertebral angulations of less than 1.5° had modest effects on the capture range. This paper assessed capture range of a number of variants of intensity-based 2D-3D registration algorithms in clinically realistic situations (for the use in pedicle screw insertion surgery). We conclude that a registration approach based on the gradient correlation similarity and the Powell's optimization algorithm, using a minimum of two C-arm images, is likely sufficiently robust for the proposed application.