6. Registration

• 6.1. Registration Intro
  • 6.1.1. Learning Objectives
  • 6.1.2. Introduction
    • 6.1.2.1. Medical Image Computing
    • 6.1.2.2. Computer Assisted Surgery
  • 6.1.3. Methods
  • 6.1.4. A Note on Coordinate Systems and Rotations
  • 6.1.5. A Note on VTK Coordinate Systems
  • 6.1.6. A Note on Homogeneous Coordinate Conventions
• 6.2. Manual Registration
  • 6.2.1. Examples
  • 6.2.2. Papers
  • 6.2.3. Typical Performance
• 6.3. Point-Based Registration
  • 6.3.1. Examples
  • 6.3.2. Papers
  • 6.3.3. Algorithm
  • 6.3.4. Fiducial marker types
  • 6.3.5. Typical Performance
  • 6.3.6. Notebooks
  • 6.3.7. Python Implementation
• 6.4. Surface-Based Registration
  • 6.4.1. Examples - Surface Registration with Medtronic Stealthstation ENT
  • 6.4.2. Examples - Surface Registration with Pathfinder
  • 6.4.3. Examples - Surface Registration with Brainlab Z-touch
  • 6.4.4. Key Papers
  • 6.4.5. Algorithm - Iterative Closest Point (ICP)
  • 6.4.6. Failure Modes
  • 6.4.7. Optimisations
• 6.5. Calibration-Based Registration
  • 6.5.1. Papers
  • 6.5.2. Examples - Brainlab, Intra-op to Pre-op imaging using calibration device
• 6.6. Registration Metrics
  • 6.6.1. Evaluation Criteria
  • 6.6.2. Fiducial Localisation Error (FLE)
  • 6.6.3. Fiducial Registration Error (FRE)
  • 6.6.4. Target Registration Error (TRE)
  • 6.6.5. Estimating TRE from FLE
  • 6.6.6. FRE And TRE Are Uncorrelated
  • 6.6.7. FRE And TRE Can Underestimate
  • 6.6.8. Do Not Claim FRE as TRE
  • 6.6.9. Fiducial Regsitration Educational Demo