Multi-modal registration of speckle-tracked freehand 3D ultrasound to CT in the lumbar spine

Andrew Lang, Parvin Mousavi, Sean Gill, Gabor Fichtinger, Purang Abolmaesumi

Research output: Contribution to journalArticlepeer-review

23 Scopus citations


A method for registration of speckle-tracked freehand 3D ultrasound (US) to preoperative CT volumes of the spine is proposed. We register the US volume to the CT volume by creating individual US " sub-volumes" , each consisting of a small section of the entire US volume. The registration proceeds incrementally from the beginning of the US volume to the end, registering every sub-volume, where each sub-volume contains overlapping images with the previous sub-volume. Each registration is performed by generating simulated US images from the CT volume. As a by-product of our registration, the significant drift error common in speckle-tracked US volumes is corrected for. Results are validated through a phantom study of plastic spine phantoms created from clinical patient CT data as well as an animal study using a lamb cadaver. Results demonstrate that we were able to successfully register a speckle-tracked US volume to CT volume in four out of five phantoms with a success rate of greater than 98%. The final error of the registered US volumes decreases by over 50 percent from the speckle tracking error to consistently below 3. mm. Studies on the lamb cadaver showed a mean registration error consistently below 2. mm.

Original languageEnglish (US)
Pages (from-to)675-686
Number of pages12
JournalMedical Image Analysis
Issue number3
StatePublished - Apr 2012
Externally publishedYes


  • Drift correction
  • Freehand ultrasound
  • Image-guided intervention
  • Registration
  • Speckle tracking

ASJC Scopus subject areas

  • Computer Graphics and Computer-Aided Design
  • Computer Vision and Pattern Recognition
  • Radiology Nuclear Medicine and imaging
  • Health Informatics
  • Radiological and Ultrasound Technology


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