Bayesian registration of models using finite element eigenmodes

Abstract

This paper is concerned with registering three-dimensional wire-frame organ models. This involves finding correspondences between points on the models of two different examples of the same organ. Such registration is widely used in the processing of medical data; for example in segmentation, or to superimpose functional information on a more detailed structural map. The algorithm described in this paper is based on matching the modes of deformation of organ shapes. Modes with lower spatial frequency characterise large scale organ features whereas small scale variations determine the high frequency modes. First, the organ sizes are normalised using a generalised version of the centroid size metric. The axes of the fundamental frequency modes are then aligned to provide initial rigid-body registration. The registration is refined by matching increasingly high frequency modes using the ‘Highest confidence first’ algorithm. The matches are evaluated using a Bayesian combination of local prior and likelihood functions. The prior is derived from the Gompertz metric of biological growth and ensures that physically impossible matches are not accepted. The likelihood function is a measure of the similarity between local modal deformation components. The registration algorithm has been applied by the authors in the analysis of three dimensional ultrasound data. Results are presented showing the registration of two liver models derived from 3D ultrasound.