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A Spatial-Stiffness Analysis Of Fiducial Registration and Randy E. Ellis1

Summary: A Spatial-Stiffness Analysis Of Fiducial Registration
Burton Ma1
and Randy E. Ellis1
School of Computing, Queen's University at Kingston, Canada K7L 3N6
Abstract. We describe a new approach to predicting the maximum target regis-
tration error for fiducial registration. The approach is based on the analysis of a
spatial stiffness model that produces an analytic expression of the maximum error
that is closely related to the formula reported in Fitzpatrick et al. [1]. The method-
ology we used was developed by Lin et al. [4]. The analytic stiffness results yield
error estimates that closely match those from numerical simulations.
1 Introduction
Fiducial markers, used to accurately localize an object in space, have many applications
in the health sciences such as registration for computer-integrated surgery and radiother-
apy, roentgen stereo photogrammetric analysis, and motion tracking in biomechanical
studies. Understanding how measurement errors of the fiducials affect the accuracy of
the localization is important for the clinical application of fiduciary techniques. An
analytic expression of the expected target registration error (TRE) was derived by Fitz-
patrick et al. [1] in which many important relationships were shown. Their derivation
of the analytic expression is not trivial and does not easily lend itself to the case of


Source: Abolmaesumi, Purang - School of Computing, Queen's University (Kingston)


Collections: Computer Technologies and Information Sciences