快速迭代自适应阈值最近点迭代血管介入手术系统配准方法-《中国医学物理学杂志》

文章信息/Info

Title:: A fast iterative registration method based on iterative closest point algorithm with adaptive thresholds for vascular intervention

Author(s):: SUN Haoyue; HU Zhi; QI Jinlong; CUI Guohua; School of Electronic and Electrical Engineering, Shanghai University of Engineering Science, Shanghai 201620, China

Keywords:: Keywords: vascular interventional surgery iterative closest point dynamic registration adaptive threshold fast point select

摘要:: 针对增强现实血管介入手术系统中，柔性导丝在血管中运动时位姿动态变化影响主-从位姿配准精度及迭代效率低下的问题，提出一种快速迭代自适应阈值最近点迭代（ICP）算法。首先通过建立血管和导丝物理模型，获取运动点位置数据。然后充分考虑迭代中系统状态的变化，通过对主手端和从手端点的重叠率进行判断，设计自适应动态阈值ICP算法进行精配准，提高配准精度。同时快速选点迭代，提高配准效率。最后进行仿真模拟，与经典ICP算法进行对比分析。结果表明，本研究提出的动态高精度配准算法能将配准速度和精度分别提高57%和70%。该方法能提高配准方法的动态特性，抑制术中导丝形态变化对配准精度及配准效率的影响，更加适合增强现实血管介入手术情况。

Abstract:: A fast iterative registration method based on iterative closest point (ICP) algorithm with adaptive thresholds is proposed for the vascular intervention system based on augmented reality to overcome the challenge that the accuracy of master-slave registration is affected by the dynamic change of the position when the flexible guidewire moves in the vessel and to address the problem of iteration inefficiency. The physical model of blood vessel and guidewire is established to obtain the position data of the motion points. After fully considering the change of system state during the iteration, the ICP algorithm with adaptive thresholds is designed to achieve precise registration by calculating the overlapping rate of the master and slave points, thereby improving the registration accuracy. Meanwhile, the fast point selection iteration improves the registration efficiency. The simulation is carried out for performance comparison with the classical ICP algorithm, and the results show that the dynamic high-precision registration algorithm proposed in the study can improve the registration speed and accuracy by 57% and 70%. The proposed method is more suitable for augmented reality-based vascular interventions for it can enhance the dynamic characteristics of the registration method and suppress the effects of the morphological changes of the guidewire during the surgery on the registration accuracy and efficiency.