Diploma thesis Three-Dimensional Ultrasound Mosaicing Thesis by: Christian Wachinger Advisor: Prof. Nassir Navab, Frank Sauer, Ph.D. Supervision by: Wolfgang Wein, Ali Khamene? in collaboration with Siemens Corporate Research, Princeton, USA Due date: March 2007 Awarded with the Werner von Siemens Excellence Award 2007. Abstract The creation of 2D ultrasound mosaics is becoming a common clinical practice with a high clinical value. The next step coming along with the increasing availability of 2D array transducers is the creation of 3D mosaics. In the literature of ultrasound registration, the alignment of multiple images has not yet been addressed. Therefore, we propose registration strategies, which are able to cope with problems arising by multiple image alignment. We use pair-wise registration with a consecutive Lie normalization and simultaneous registration, which urges the usage of multivariate similarity measures. In this thesis, we propose alternative multivariate extensions based on a maximum likelihood framework. Due to the higher computational cost of simultaneous registration, we describe possibilities for speeding them up, among others, the usage of a stochastic pyramid. We also present methods to reduce speckle noise and to detect shadow in ultrasonographic volumes, to improve the overall registration performance. For the compounding of the final volume, a variety of approaches are listed, ranging from general to advanced ones. Experimental results, on multiple ultrasound data sets, show the good performance of the proposed registration strategies and similarity measures. keywords: ultrasound registration, three-dimensional (3D) mosaicing, ultrasound stitching, ultrasound compounding, extended field-of-view ultrasound, simultaneous registration, lie normalization, pairwise registration, multivariate similarity measures, global registration Videos 3D Baby Mosaicing Shaking Baby: Demonstration of simultaneous registration with a newly developed similarity measure on baby phantom data Clay Vessel Study Clay Vessel Alignment: Manual alignment of six ultrasonographic volumes from a clay vessel Clay Vessel Registration: Automatic registration of clay vessel volumes Clay Vessel Presentation: Presentation of compounded volume Cylinder Study: A simplified model of the human legs on ultrasoud images is a cylinder. Each acquisition shows a plate; scanning around the leg and fusing all the scans should result in a cylinder. Using pairwise registration can first lead to an accumulation of registration errors, resulting in a spiral instead of an cylinder. And second, to a total overlap of the images. In contrast, simultaneous registration leads to a stable and robust registration of the plates. Pairwise registration: Accumulation error leads to a spiral Simultaneous registration: Robust and stable conversion to the desired cylinder Triangle Study: Having three times the same volume consisting of two cylinders each. Starting from a rough initial alignment, volume number 1 is rotationally displaced by a certain degree. First, a pairwise registration is tried, leading to a bad final result. Second, a simultaneous registration leads to the desired triangular result. Triangle pairwise Triangle simultaneous Halloween: Pumpkin Stitching Breast Study Colored Volume Rendering: Volumetric images from a female breast Colored Volume Registration: Registration of breast volumes

Images Vessel: Baby: Ressources: Report Presentation (conversion to pdf not optimal) Publications: C. Wachinger, N. Navab A Contextual Maximum Likelihood Framework for Modeling Image Registration IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), Providence, Rhode Island (USA), June 2012. (bib) C. Wachinger, N. Navab Manifold Learning for Multi-Modal Image Registration 21st British Machine Vision Conference (BMVC), Aberystwyth, United Kingdom, August 31 - September 3 2010. (bib) C. Wachinger, N. Navab Structural Image Representation for Image Registration IEEE Computer Society Conference on Computer Vision and Pattern Recognition, San Francisco, California, June 2010. Workshop on Mathematical Methods in Biomedical Image Analysis (MMBIA). (bib) C. Wachinger, N. Navab Alignment of Viewing-Angle Dependent Ultrasound Images. Medical Image Computing and Computer-Assisted Intervention (MICCAI), London, UK, September 20-24 2009 (bib) O. Kutter, W. Wein, N. Navab Multi-modal registration based Ultrasound Mosaicing Medical Image Computing and Computer-Assisted Intervention (MICCAI), London, UK, September 20-24 2009 (bib) C. Wachinger, N. Navab Similarity Metrics and Efficient Optimization for Simultaneous Registration IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR), Miami, Florida (USA), June 2009. (bib) C. Wachinger, B. Glocker, J. Zeltner, N. Paragios, N. Komodakis, M. S. Hansen, N. Navab Deformable Mosaicing for Whole-body MRI Medical Image Computing and Computer-Assisted Intervention (MICCAI), New York, USA, September 6-10 2008 (bib) C. Wachinger Insights Into Three-Dimensional Ultrasound Mosaicing: Strategies for the alignment of multiple ultrasound volumes VDM Verlag Dr. Müller, Stuttgart, ISBN: 3836488264, December 23 2008, Amazon (bib) C. Wachinger, W. Wein, N. Navab Registration Strategies and Similarity Measures for Three-dimensional Ultrasound Mosaicing Journal of the University Radiologists, Academic Radiology 15 (11), pp.1404-1415. Special issue of MICCAI 2007 (bib) S. Atasoy, D. Noonan, S. Benhimane, N. Navab, G. Z. Yang A Global Approach for Automatic Fibroscopic Video Mosaicing in Minimally Invasive Diagnosis Medical Image Computing and Computer-Assisted Intervention, MICCAI, 2008, New York, USA, September 6-10 2008 (bib) C. Wachinger, R. Shams, N. Navab Estimation of Acoustic Impedance from Multiple Ultrasound Images with Application to Spatial Compounding IEEE Computer Society Conference on Computer Vision and Pattern Recognition, Anchorage, Alaska (USA), June 2008. Workshop on Mathematical Methods in Biomedical Image Analysis (MMBIA). (bib) C. Wachinger, N. Navab Ultrasound Specific Similarity Measures for Three-Dimensional Mosaicing. SPIE Medical Imaging, San Diego, California, USA, 16-21 February 2008 (bib) C. Wachinger, W. Wein, N. Navab Three-Dimensional Ultrasound Mosaicing Medical Image Computing and Computer-Assisted Intervention, MICCAI, 2007, Brisbane, Australia, October 29 - November 2 2007 (bib) C. Wachinger, W. Wein, N. Navab Ultrasound Volume Stitching 6. Jahrestagung der Deutschen Gesellschaft für Computer-und Roboter-Assistierte Chirurgie (CURAC 2007), Karlsruhe, Germany, October 2007 (bib)