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The emergence of real-time 3D ultrasound (US) makes it possible to considerimage-based tracking of subcutaneous soft tissue targets for computer guideddiagnosis and therapy. We propose a 3D transrectal US based tracking system forprecise prostate biopsy sample localisation. The aim is to improve sampledistribution, to enable targeting of unsampled regions for repeated biopsies,and to make post-interventional quality controls possible. Since the patient isnot immobilized, since the prostate is mobile and due to the fact that probemovements are only constrained by the rectum during biopsy acquisition, thetracking system must be able to estimate rigid transformations that are beyondthe capture range of common image similarity measures. We propose a fast androbust multi-resolution attribute-vector registration approach that combinesglobal and local optimization methods to solve this problem. Globaloptimization is performed on a probe movement model that reduces thedimensionality of the search space and thus renders optimization efficient. Themethod was tested on 237 prostate volumes acquired from 14 different patientsfor 3D to 3D and 3D to orthogonal 2D slices registration. The 3D-3D version ofthe algorithm converged correctly in 96.7% of all cases in 6.5s with anaccuracy of 1.41mm (r.m.s.) and 3.84mm (max). The 3D to slices method yielded asuccess rate of 88.9% in 2.3s with an accuracy of 1.37mm (r.m.s.) and 4.3mm(max).

Towards 3D ultrasound image based soft tissue tracking: a transrectal ultrasound prostate image alignment system