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Registering Preprocedure Volumetric Images With Intraprocedure 3-D Ultrasound Using an Ultrasound Imaging Model

Multi-modal intensity-based registration algorithms often process one or both images to make them more similar. However, this processing rarely uses explicit knowledge of how the images were acquired. This paper explicitly incorporated an imaging model into a probabilistic registration framework. This enabled the registration to effectively align the underlying anatomy rather than the images that were derived from it. This novel innovation was demonstrated on MR-ultrasound registration, a clinically relevant problem that has proved extremely challenging. Clinically useful accuracy (e.g. for electrophysiology procedures) was achieved using both volunteer and patient datasets.