A method for frame-by-frame us to CT registration in a joint calibration and registration framework

A method is presented for achieving robust joint calibration and registration in ultrasound (US) to CT registration for computer assisted orthopedic surgery. We propose using an effectively real-time frame- by-frame registration algorithm during US image acquisition. This approach provides more control to the surgeon, is more robust to initial conditions, and is computationally efficient. We then use the estimated registration of the frame-by-frame method to initialize a joint calibration and registration algorithm, and this is shown to produce over all more accurate and repeatable results. Experiments are performed using simulated US images of the lumbar vertebra and the distal femur as potential areas of interest for surgical applications.