Lecture Notes in Computer Science 1935Edited by G. Goos, J. Hartmanis, and J. van Leeuwen

�BerlinHeidelbergNew YorkBarcelonaHong KongLondonMilanParisSingaporeTokyo

Scott L. Delp Anthony M. DiGoiaBranislav Jaramaz (Eds.)

Medical Image Computingand Computer-AssistedIntervention –MICCAI 2000

Third International ConferencePittsburgh, PA, USA, October 11-14, 2000Proceedings

��

Series Editors

Gerhard Goos, Karlsruhe University, GermanyJuris Hartmanis, Cornell University, NY, USAJan van Leeuwen, Utrecht University, The Netherlands

Volume Editors

Scott L. DelpMechanical Engineering DepartmentStanford, CA, USA 94305-3030E-mail: delp@leland.standford.edu

Anthony M. DiGoiaBranislav JaramazUPMC Shadyside Hospital and Carnegie Mellon UniversityPittsburgh, PA, USA 15232E-mail: {tony,branko}@cor.ssh.edu

Cataloging-in-Publication data applied for

Die Deutsche Bibliothek - CIP-Einheitsaufnahme

Medical image computing and computer-assisted intervention : thirdinternational conference ; proceedings / MICCAI 2000, Pittsburgh, PAUSA, October 11 - 14, 2000. Scott L. Delp ... (ed.). - Berlin ;Heidelberg ; New York ; Barcelona ; Hong Kong ; London ; Milan ; Paris ;Singapore ; Tokyo : Springer, 2000

(Lecture notes in computer science ; Vol. 1935)ISBN 3-540-41189-5

CR Subject Classification (1998): I.5, I.3.5-8, I.2.9-10, I.4, J.3

ISSN 0302-9743ISBN 3-540-41189-5 Springer-Verlag Berlin Heidelberg New York

This work is subject to copyright. All rights are reserved, whether the whole or part of the material isconcerned, specifically the rights of translation, reprinting, re-use of illustrations, recitation, broadcasting,reproduction on microfilms or in any other way, and storage in data banks. Duplication of this publicationor parts thereof is permitted only under the provisions of the German Copyright Law of September 9, 1965,in its current version, and permission for use must always be obtained from Springer-Verlag. Violations areliable for prosecution under the German Copyright Law.

Springer-Verlag Berlin Heidelberg New Yorka member of BertelsmannSpringer Science+Business Media GmbHc© Springer-Verlag Berlin Heidelberg 2000

Printed in Germany

Typesetting: Camera-ready by authorPrinted on acid-free paper SPIN 10781234 06/3142 5 4 3 2 1 0

Preface

MICCAI has become a flagship international conference for medical image computingand computer-assisted interventions. The MICCAI conference was created bymerging three closely related and thriving conference series: VBC (Visualization inBiomedical Computing), MRCAS (Medical Robotics and Computer Assisted Surgery)and CVRMed (Computer Vision, Virtual Reality and Robotics in Medicine).MICCAI now provides a single focus for the presentation of high quality research inthis important, multi-disciplinary area. The first MICCAI was held in Boston, USA in1998, and the second meeting was held last year in Cambridge, England. Theseprevious conferences attracted a large number of excellent submissions and were verywell attended. These meetings brought together the best theoretical and applied workin this rapidly emerging field, and encouraged constructive dialogue betweencomputer scientists, engineers, and clinicians.

We are delighted to report a high level of interest in MICCAI 2000. A total of 194papers were submitted, covering a broad range of topics. Of these, 136 were acceptedfor presentation at the conference � 38 as oral presentations and 98 as posters. All theselected papers appear in these proceedings. Each paper was reviewed by threemembers of the Scientific Review Committee, selected for technical or clinicalexpertise of relevance to the subject matter. Final decisions were made by theProgram Planning Committee, based on advice from individual reviewers. The resultis another volume of high-quality papers that will contribute to the development ofthis important and exciting area.

We are grateful to the members of the Scientific Review Committee for the time theydevoted to the review process. We are also indebted to Branislav Jaramaz, FredricPicard, and Katharine Cline for superb support in organizing the conference. We aremost thankful to the authors of this volume, for submitting a fantastic array of workfrom basic work on image processing to significant clinical applications of this newtechnology in orthopaedics, neurosurgery, oncology, surgery, plastic surgery,cardiology, radiology, and other clinical disciplines.

We are pleased to welcome delegates to Pittsburgh and hope that you find MICCAI2000 an enjoyable and stimulating experience. For readers unable to attend theconference, we hope that you will find this a valuable record of the scientific program,and look forward to meeting you at future MICCAI conferences.

October 2000 Scott L. Delp Tony DiGioia

Branislav Jaramaz

Conference Organizing Committee

Third International Conference onMedical Image Computing and Computer-Assisted Intervention

Pittsburgh, Pennsylvania, United States of America11�14 October 2000

Conference ChairsAnthony M. DiGioia UPMC Shadyside Hospital, USAScott L. Delp Stanford University, USA

Co-chairsRichard D. Bucholz St. Louis University Health Sciences

Center, USAAlain Carpentier L'hôpital Broussais, FranceKaigham J. Gabriel Carnegie Mellon University, USAW. LeRoy Heinrichs Stanford University Medical Center,

USALouis R. Kavoussi Johns Hopkins Medical Institutions,

USAMichael J. Mack COR Specialty Associates of North

Texas, P. A., USARichard M. Satava Yale University School of Medicine,

USA

Program Planning CommitteeAlan C.F. Colchester University of Kent at Canterbury, UKTakeyoshi Dohi University of Tokyo, JapanJames S. Duncan Yale University, USAGuido Gerig University of North Carolina, Chapel

Hill, USAEric Grimson Massachusetts Institute of Technology,

USABranislav Jaramaz UPMC Shadyside Hospital, USAFrederic Picard UPMC Shadyside Hospital, USARussell H. Taylor Johns Hopkins University, USAJocelyne Troccaz TIMC - IMAG, FranceMax A. Viergever University Medical Center Utrecht, The

Netherlands

Local Organizing CommitteeBranislav Jaramaz UPMC Shadyside Hospital, USAFrederic Picard UPMC Shadyside Hospital, USACameron N. Riviere Carnegie Mellon University, USA

Conference Organizing Committee VII

Scientific Review CommitteeJohn R. Adler, Jr. Stanford University Medical Center,

USADavid Altobelli Private Practice, USALicinio Angelini Universita Degli Studi di Roma La

Sapieza, ItalyTakehide Asano Chiba University, School of Medicine,

JapanLudwig M. Auer ISM-International, GermanyMary Austin-Seymour University of Washington, USANicholas Ayache INRIA Sophia-Antipolis, FranceWilliam L. Bargar Private Practice, USAE. Frederick Barrick Inova Fairfax Hospital, USAHarry Bartelink The Netherlands Cancer Institute, The

NetherlandsAndre Bauer Marbella High Care S.A., SpainMitch Berger University of California at San

Francisco, USAUlrich Berlemann Inselspital, SwitzerlandGeorges Bettega Hospital A. Michallon, FrancePeter Black Children�s Hospital, USADominique Blin TIMC - IMAG, FranceMartin Börner BGU Unfallklinik, GermanyJon C. Bowersox Mt. Zion Medical Center, USARichard D. Bucholz St. Louis University Health Sciences

Center, USAElizabeth Bullitt University of North Carolina School of

Medicine, USAGuy-Bernard Cadiere Centre Hospitalier Universitaire St.

Peirre, BelgiumAlain Carpentier L'hôpital Broussais, FranceSteven Charles The Center for Retina Vitreous Surgery,

USAKiyoyuki Chinzei Mechanical Engineering Laboratory,

AIST/MITI, JapanW. Randolph Chitwood East Carolina University, USAPhilippe Cinquin TIMC - IMAG, FranceKevin Cleary Georgetown University Medical Center,

USAAlan C.F. Colchester University of Kent at Canterbury, UKPaul Corso Private practice, USAEve Coste- Maniere INRIA Sophia-Antipolis, FranceHugh Curtin The Massachusetts Eye and Ear

Infirmary, USACourt Cutting NYU Medical Center, USARalph Damiano Washington University St. Louis, USA

VIII Conference Organizing Committee

Brian Davies Imperial College of Science,Technology and Medicine, UK

Stephen L. Dawson Massachusetts General Hospital, USAHerve Delingette INRIA Sophia-Antipolis, FranceScott L. Delp Stanford University, USAAnthony M. DiGioia UPMC Shadyside Hospital, USATakeyoshi Dohi University of Tokyo, JapanDidier Dormont Hopital de la Pitie-Salpetriere Service de

Radiotherapie, FranceJames S. Duncan Yale University, USARichard Ehman Mayo Clinic Rochester, USAJulia Fielding Harvard Medical School, USAElliot K. Fishman The Russell H. Morgan Department of

Radiology and Radiological Science,USA

Kevin Foley Semmes Murphey Clinic, USAThomas Fortin Hospices Civiles de Lyon, FranceMarvin Fried Albert Einstein College of Medicine,

Montefiore Medical Center, USAToyomi Fujino International Medical Information

Center, JapanToshio Fukuda Nagoya University, JapanKaigham J. Gabriel Carnegie Mellon University, USABarry Gardiner SGS Surgical Associates, USAW. Peter Geiss St. Joseph's Medical Center, USAGuido Gerig University of North Carolina, Chapel

Hill, USAJean-Yves Giraud TIMC - IMAG, FranceFrank Gossé Hanover Medical University, GermanyMansel V. Griffiths University of Bristol, UKEric Grimson Massachusetts Institute of Technology,

USAGerald Hanks Fox Chase Cancer Center, USADaijo Hashimoto Tokyo Metropolitan Police Hospital,

JapanMakoto Hashizume Graduate School of Medical Sciences

Kyushu University, JapanW. LeRoy Heinrichs Stanford University Medical Center,

JapanMarcel van Herk The Netherlands Cancer Institute, The

JapanKarl Heinz Höhne University Hospital Eppendorf, GermanyJohn Hollerbach University of Utah, USARobert Howe Harvard University, USAKoji Ikuta Nagoya University, JapanHiroshi Iseki Tokyo Women's Medical University,

JapanCliff Jack Mayo Clinic Rochester, USA

Conference Organizing Committee IX

Branislav Jaramaz UPMC Shadyside Hospital, USAFerenc A. Jolesz Harvard Medical School, USAEugene de Juan, Jr. Johns Hopkins University Hospital, USALeonard Kaban Massachusetts General Hospital, USADavid M. Kahler University of Virginia, USAIain Kalfas Cleveland Clinic Foundation, USALouis R. Kavoussi Johns Hopkins Medical Institutions,

USARon Kikinis Harvard Medical School, USAMarinus de Kleuver Sint Maartenskliniek, The NetherlandsLudger Klimek Deutsche Klinik für Diagnostik,

GermanyBurt Klos Catharina Hospital, The NetherlandsJonathan Knisley Yale University, USAMasahiro Kobayashi Keio University School of Medicine,

JapanJohn P. Kostuik Johns Hopkins University Program, USAKenneth A. Krackow State University of New York at Buffalo,

USAThomas M. Krummel Stanford University School of Medicine,

USAStephane Lavallee PRAXIM, FranceTheodore Lawrence University of Michigan Medical Center,

USADonlin Long Johns Hopkins University Hospital, USADidier Loulmet Lenox Hill Hospital, USARobert Maciunas University of Rochester Medical Center,

USAMichael J. Mack COR Specialty Associates of North

Texas, P. A., USAIsabelle Magnin INSA de Lyon CREATIS, FranceMaurilio Marcacci Istituti Ortopedici Rizzoli , ItalyJacques Marescaux University Hospital of Strasbourg,

FranceJeffrey Marsh St. Louis Children's Hospital, USAKen Masamune University of Tokyo, JapanJoseph C. McCarthy New England Baptist Hospital, USAPhilippe Merloz TIMC - IMAG, FranceJeff Michalski Washington University School of

Medicine, USAMichael E. Moran Capital District Urologic Surgeons, LLP,

USAKensaku Mori Nagoya University, JapanRalph Mösges University of Cologne, GermanyStephen B. Murphy Boston Orthopedics, USAHiromu Nishitani Tokushima University Hospital, JapanJ. Alison Noble University of Oxford, UKLutz Peter Nolte University of Bern, Switzerland

X Conference Organizing Committee

Takahiro Ochi Osaka University Medical School, JapanDouglas L. Packer Mayo Foundation, USAP.W. Pavlov St. Martin�s Clinic, The NetherlandsCharles Pelizzari University of Chicago, USAJordan Phillips American Assoc. of Gynecological

Laparoscopists, USAFrederic Picard UPMC Shadyside Hospital, USAStephen M. Pizer University of North Carolina, USAFrank van Praet O.L. Vrouw Ziekenhuis, BelgiumGlenn M. Preminger Duke University Medical Center, USAY. Raja Rampersaud Toronto Western Hospital, CanadaDavid Rattner Massachusetts General Hospital, USAMichael R. Rees University of Bristol, UKPietro Regazzoni Katonsspital Basel, SwitzerlandHans F. Reinhardt Bethesda-Spital, SwitzerlandCameron N. Riviere Carnegie Mellon University, USAMack Roach UC San Francisco Medical School, USARichard A. Robb Mayo Clinic Rochester, USAJoseph Rosen Dartmouth-Hitchcock Medical Center,

USAJulian Rosenman University of North Carolina, USAGeoffrey D. Rubin Stanford University, USAJonathan Sackier Private Practice, USAIchiro Sakuma University of Tokyo, JapanKenneth Salisbury Stanford University, USADavid Sandeman Frenchay Hospital, UKRichard M. Satava Yale University School of Medicine,

USAYoshinobu Sato Osaka University Medical School, JapanDietrich Schlenzka ORTON Orthopaedic Hospital and

Research Institute, FinlandPeter Schulam Baylor College of Medicine, USAAchim Schweikard Informatik, GermanyRamin Shahidi Stanford University, USALeonard Shlain California Pacific Medical Center, USALuc Soler IRCAD/EITS, FranceDennis Spencer Yale University, USAPeter Stevens The University of Utah School of

Medicine, USAS. David Stulberg Northwestern Orthopaedic Institute,

USANobuhiko Sugano Osaka University Medical School, JapanKeizo Sugimachi Kyushu University School of Medicine,

JapanWilliam P. Sweezer Diablo Heart and Lung Surgery Medical

Group, USAGabor Szekely ETH-Zentrum, Switzerland

Conference Organizing Committee XI

Kintomo Takakura Tokyo Women's Medical University,Japan

Mark Talamini Johns Hopkins University, USAShinichi Tamura Osaka University Medical School, JapanCharles Taylor Stanford University, USAChris Taylor University Of Manchester, UKRussell H. Taylor Johns Hopkins University, USAAnthony Timoney Southmead Hospital, UKJun-ichiro Toriwaki Nagoya University, JapanJocelyne Troccaz TIMC - IMAG, FranceJay Udupa University of Pennsylvania, USADirk Vandermeulen University Hospital Gasthuisberg,

BelgiumDirk Vandevelde University Hospital Antwerpen, BelgiumMichael Vannier University of Iowa Hospitals and

Clinics, USAMax A. Viergever University Medical Center Utrecht, The

NetherlandsSrinivasan Vijaykumar University of Illinois at Chicago, USARichard Wahl University of Michigan Medical Center,

USAEiju Watanabe Tokyo Metropolitan Police Hospital,

JapanSandy Wells MIT, USAJames Wenz Johns Hopkins University Bayview

Orthopaedics, USACarl-Fredrik Westin Harvard Medical School, USAJohn Wickham Guys Hospital, UKYasushi Yamauchi National Institute of Bioscience and

Human Technology, JapanKazuo Yonenobu Osaka University Medical School, JapanChristopher K. Zarins Stanford University Medical Center,

USAMichael Zelefsky Memorial Sloan-Kettering Cancer

Center, USAJames Zinreich Johns Hopkins Medical Institutions,

USA

XII Conference Organizing Committee

MICCAI Board

Nicholas Ayache INRIA Sophia-Antipolis, FranceAlan C.F. Colchester University of Kent at Canterbury, UKAnthony M. DiGioia UPMC Shadyside Hospital, USATakeyoshi Dohi University of Tokyo, JapanJames S. Duncan Yale University, USAKarl Heinz Höhne University Hospital Eppendorf, GermanyRon Kikinis Harvard Medical School, USAStephen M. Pizer University of North Carolina, USARichard A. Robb Mayo Clinic Rochester, USARussell H. Taylor Johns Hopkins University, USAJocelyne Troccaz TIMC - IMAG, FranceMax A. Viergever University Medical Center Utrecht, The

Netherlands

Table of Contents

Neuroimaging and Neurosurgery

A 3-Dimensional Database of Deep Brain Functional Anatomy,and Its Application to Image-Guided Neurosurgery 1

K.W. Finnis, Y.P. Starreveld, A.G. Parrent, and T.M. Peters

Simulation of Corticospinal Tract Displacement in Patientswith Brain Tumors 9

M.R. Kaus, A. Nabavi, C.T. Mamisch, W.H. Wells, F.A. Jolesz,R. Kikinis, and S.K. Warfield

Registration of 3D Intraoperative MR Images of the Brain Using aFinite Element Biomechanical Model 19

M. Ferrant, S.K. Warfield, A. Nabavi, F.A. Jolesz, and R. Kikinis

Telesurgery System for Intravascular Neurosurgery 29M. Tanimoto, F. Arai, T. Fukuda, K. Itoigawa, M. Hashimoto,I. Takahashi, and M. Negoro

Automatic Recognition of Cortical Sulci Using a Congregation ofNeural Networks 40

D. Rivière, J.-F. Mangin, D. Papadopoulos-Orfanos,J.-M. Martinez, V. Frouin, and J. Régis

BrainSuite: An Automated Cortical Surface Identification Tool 50D.W. Shattuck and R.M. Leahy

Incorporating Spatial Priors into an Information TheoreticApproach for �MRI Data Analysis 62

J. Kim, J.W. Fisher, III, A. Tsai, C. Wible, A. S. Willsky,and W.M. Wells, III

Small Sample Size Learning for Shape Analysis of AnatomicalStructures 72

P. Golland, W.E.L. Grimson, M.E. Shenton, and R. Kikinis

Robust Midsagittal Plane Extraction from Coarse, Pathological3D Images 83

Y. Liu, R.T. Collins, and W.E. Rothfus

XIV Table of Contents

3-D Reconstruction of Macroscopic Optical Brain Slice Images 95A. Colchester, S. Ourselin, Y. Zhu, E. Bardinet, Y. He, A. Roche,S. Al-Sarraj, B. Nailon, J. Ironside, and N. Ayache,

Ultrasound/MRI Overlay with Image Warping for Neurosurgery 106D.G. Gobbi, R.M. Comeau, and T.M. Peters

Model-Updated Image-Guided Neurosurgery: Preliminary AnalysisUsing Intraoperative MR 115

M.I. Miga, A. Staubert, K.D. Paulsen, F.E. Kennedy, V.M. Tronnier,D.W. Roberts, A. Hartov, L.A. Platenik, and K.E. Lunn

Automatic Landmarking of Cortical Sulci 125C.J. Beeston and C.J. Taylor

The Skull Stripping Problem in MRI Solved by a Single3D Watershed Transform 134

H.K. Hahn and H.-O. Peitgen

A Comparative Statistical Error Analysis of NeuronavigationSystems in a Clincal Setting 144

H. Abbasi, S. Hariri, D. Martin, D. Kim, J. Adler,G. Steinberg, and R. Shahidi

Segmentation

Detection and Quantification of Line and Sheet Structures in3-D Images 154

Y. Sato and S. Tamura

Fusing Speed and Phase Information for Vascular Segmentationin Phase Contrast MR Angiograms 166

A.C.S. Chung, J.A. Noble, and P. Summers

Intraoperative Segmentation and Nonrigid Registration forImage Guided Therapy 176

S.K. Warfield, A. Nabavi, T. Butz, K. Tuncali, S.G. Silverman,P. McL. Black, F.A. Jolesz, and R. Kikinis

Efficient Semiautomatic Segmentation of 3D Objects inMedical Images 186

A. Schenk, G. Prause, and H.-O. Peitgen

Space and Time Shape Constrained Deformable Surfaces for4D Medical Image Segmentation 196

J. Montagnat and H. Delingette

Table of Contents XV

Adaptive-Focus Statistical Shape Model for Segmentation of3D MR Structures 206

D. Shen and C. Davatzikos

Non-linear Diffusion for Interactive Multi-scale WatershedSegmentation 216

E. Dam and M. Nielsen

Medial-Guided Fuzzy Segmentation 226G. Stetten and S. Pizer

Robust 3D Segmentation of Anatomical Structures with Level Sets 236C. Baillard and C. Barillot

A Curve Evolution Approach to Medical Image Magnification viathe Mumford-Shah Functional 246

A. Tsai, A. Yezzi, Jr., and A.S. Willsky

Image Segmentation Based on the Integration of Markov RandomFields and Deformable Models 256

T. Chen and D. Metaxas

Segmentation by Adaptive Geodesic Active Contours 266C.-F. Westin, L.M. Lorigo, O. Faugeras, W.E.L. Grimson,S. Dawson, A. Norbash, and R. Kikinis

Interactive Organ Segmentation Using Graph Cuts 276Y. Boykov and M.-P. Jolly

Oncology

Distribution of Prostate Cancer for Optimized Biopsy Protocols 287J. Zeng, J.J. Bauer, A. Sofer, X. Yao, B. Opell, W. Zhang,I.A. Sesterhenn, J.W. Moul, J. Lynch, and S.K. Mun

Hybrid Classification Approach of Malignant and BenignPulmonary Nodules Based on Topological and Histogram Features 297

Y. Kawata, N. Niki, H. Ohmatsu, M. Kusumoto, R. Kakinuma,K. Mori, H. Nishiyama, K. Eguchi, M. Kaneko, and N. Moriyama

MRI-Mammography 2D/3D Data Fusion for BreastPathology Assessment 307

C.P. Behrenbruch, K. Marias, P.A. Armitage, M. Yam, N. Moore,R.E. English, and J.M. Brady

XVI Table of Contents

Pre- and Intra-operative Planning and Simulation of PercutaneousTumor Ablation 317

T. Butz, S.K. Warfield, K. Tuncali, S.G. Silverman,E. van Sonnenberg, F.A. Jolesz, and R. Kikinis

Volume and Shape Preservation of Enhancing Lesions whenApplying Non-rigid Registration to a Time Series of ContrastEnhancing MR Breast Images 327

C. Tanner, J.A. Schnabel, D. Chung, M.J. Clarkson, D. Rueckert,D.L.G. Hill, and D.J. Hawkes

Local Integration of Commercially Available Intra-operativeMR-scanner and Neurosurgical Guidance for Metalloporphyrin-Guided Tumor Resection and Photodynamic Therapy 338

D. Dean, J. Duerk, M. Wendt, A. Metzger, L. Lilge, B. Wilson,V. Yang, W. Selman, J. Lewin, and R. Ratcheson

Differential Geometry Based Vector Fields for CharacterizingSurrounding Structures of Pulmonary Nodules 348

Y. Kawata, N. Niki, H. Ohmatsu, M. Kusumoto, R. Kakinuma,K. Mori, H. Nishiyama, K. Eguchi, M. Kaneko, and N. Moriyama

Medical Image Analysis and Visualization

Non-distorting Flattening for Virtual Colonoscopy 358S. Haker, S. Angenent, A. Tannenbaum, and R. Kikinis

HeartPerfect: Data Mining in a Large Database of MyocardialPerfusion Scintigraphy 367

B. Hotz and J.-P. Thirion

Retrospective Correction of MR Intensity Inhomogeneity byInformation Minimization 375

B. Likar, M.A. Viergever, and F. Pernu�

Comparison of Three High-End Endoscopic Visualization Systemson Telesurgical Performance 385

D. Mintz, V. Falk, and J.K. Salisbury, Jr.

Three-Dimensional Slice Image Overlay System with AccurateDepth Perception for Surgery 395

K. Masamune, Y. Masutani, S. Nakajima, I. Sakuma, T. Dohi,H. Iseki, and K. Takakura

Table of Contents XVII

Surgical Navigation System with Intuitive Three-Dimensional Display 403S. Nakajima, S. Orita, K. Masamune, I. Sakuma,T. Dohi, and K. Nakamura

Functional Analysis of the Vertebral Column Based on MR andDirect Volume Rendering 412

P. Hastreiter, C. Rezk-Salama, K. Eberhardt, B. Tomandl, and T. Ertl

Toward a Common Validation Methodology for Segmentation andRegistration Algorithms 422

T.S. Yoo, M.J. Ackerman, and M. Vannier

An Improved Metric Space for Pixel Signatures 432A.S. Holmes and C.J. Taylor

Registration

Evaluation of an Automatic System for Simulator/PortalImage Matching 442

F.M. Vos, J. Stoeckel, P.H. Vos, and A.M. Vossepoel

Image Registration by Maximization of Combined MutualInformation and Gradient Information 452

J.P.W. Pluim, J.B.A. Maintz, and M.A. Viergever

An Image Registration Approach to Automated Calibrationfor Freehand 3D Ultrasound 462

J.M. Blackall, D. Rueckert, C.R. Maurer, Jr., G.P. Penney,D.L.G. Hill, and D.J. Hawkes

Symmetrization of the Non-rigid Registration Problem UsingInversion-Invariant Energies: Application to Multiple Sclerosis 472

P. Cachier and D. Rey

Modeling and Analysis of Ultrasonic Echoes Reflected from aSurface under Two Layers 482

J. Dey and T. Kanade

Localization of 3D Anatomical Point Landmarks in 3DTomographic Images Using Deformable Models 492

S. Frantz, K. Rohr, and H.S. Stiehl

Fiducial Registration from a Single X-Ray Image: A New Techniquefor Fluoroscopic Guidance and Radiotherapy 502

T.S.Y. Tang, R.E. Ellis, and G. Fichtinger

XVIII Table of Contents

Multimodal Non-rigid Warping for Correction of Distortions inFunctional MRI 512

P. Hellier and C. Barillot

Robust 3D Deformation Field Estimation by Template Propagation 521P. Rösch, T. Netsch, M. Quist, G.P. Penney, D.L.G. Hill, and J. Weese

Tetrahedral Mesh Modeling of Density Data for AnatomicalAtlases and Intensity-Based Registration 531

J. Yao and R.H. Taylor

Nonrigid Registration of 3D Scalar, Vector and Tensor Medical Data 541J. Ruiz-Alzola, C.-F. Westin, S.K. Warfield, A. Nabavi, and R. Kikinis

A Fluoroscopic X-Ray Registration Process for Three-DimensionalSurgical Navigation 551

R. Grzeszczuk, S. Chin, R. Fahrig, H. Abassi, H. Holz, D. Kim,J. Adler, and R. Shahidi

Block Matching: A General Framework to Improve Robustnessof Rigid Registration of Medical Images 557

S. Ourselin, A. Roche, S. Prima, and N. Ayache

Generalized Correlation Ratio for Rigid Registration of 3DUltrasound with MR Images 567

A. Roche, X. Pennec, M. Rudolph, D.P. Auer, G. Malandain,S. Ourselin, L.M. Auer, and N. Ayache

Surgical Planning and Simulation

Simulating Minimally Invasive Neurosurgical Interventions Usingan Active Manipulator 578

A. Radetzky, M. Rudolph, W. Stefanon, S. Starkie,B. Davies, and L.M. Auer

Bayesian Estimation of Intra-operative Deformation forImage-Guided Surgery Using 3-D Ultrasound 588

A.P. King, J.M. Blackall, G.P. Penney, P.J. Edwards,D.L.G. Hill, and D.J. Hawkes

Modifying Soft Tissue Models: Progressive Cutting with MinimalNew Element Creation 598

A.B. Mor and T. Kanade

Interaction Techniques and Vessel Analysis for PreoperativePlanning in Liver Surgery 608

B. Preim, D. Selle, W. Spindler, K.J. Oldhafer, and H.-O. Peitgen

Table of Contents XIX

First Steps in Eliminating the Need for Animals and Cadavers inAdvanced Trauma Life Support 618

C. Kaufmann, S. Zakaluzny, and A. Liu

Planning and Simulation of Robotically Assisted MinimalInvasive Surgery 624

L. Adhami, È. Coste-Manière, and J.-D. Boissonnat

A Framework for Predictive Modeling of Intra-operative Deformations:A Simulation-Based Study 634

S.K. Kyriacou, D. Shen, and C. Davatzikos

Real-Time Large Displacement Elasticity for Surgery Simulation:Non-linear Tensor-Mass Model 643

G. Picinbono, H. Delingette, and N. Ayache

Endoscopy/Laproscopy

Multi-DOF Forceps Manipulator System for Laparoscopic Surgery 653R. Nakamura, E. Kobayashi, K. Masamune, I. Sakuma, T. Dohi, N. Yahagi, T. Tsuji, D. Hashimoto, M. Shimada, and M. Hashizume

A Wide-Angle View Endoscope System Using Wedge Prisms 661E. Kobayashi, K. Masamune, I. Sakuma, and T. Dohi

Computer-Assisted TURP Training and Monitoring 669M.P.S.F. Gomes and B.L. Davies

Cardiac Image Analysis

Estimating 3D Strain from 4D Cine-MRI and Echocardiography:In-Vivo Validation 678

X. Papademetris, A.J. Sinusas, D.P. Dione, R.T. Constable,and J.S. Duncan

Automating 3D Echocardiographic Image Analysis 687G.I. Sanchez-Ortiz, J. Declerck, M. Mulet-Parada, and J.A. Noble

MyoTrack: A 3D Deformation Field Method to Measure CardiacMotion from Gated SPECT 697

J.-P. Thirion and S. Benayoun

Vascular Image Analysis

An Adaptive Minimal Path Generation Technique for VesselTracking in CTA/CE-MRA Volume Images 707

B.B. Avants and J.P. Williams

XX Table of Contents

Exploiting Weak Shape Constraints to Segment Capillary Images inMicroangiopathy 717

M. Rogers, J. Graham, and R.A. Malik

Guide Wire Tracking During Endovascular Interventions 727S.A.M. Baert, W.J. Niessen, E.H.W. Meijering, A.F. Frangi,and M.A. Viergever

A Deformable Vessel Model with Single Point Initialization forSegmentation, Quantification and Visualization of Blood Vesselsin 3D MRA 735

M. Hernández-Hoyos, A. Anwander, M. Orkisz, J.-P. Roux,P. Douek, and I.E. Magnin

Development of a Computer Program for Volume Estimation ofArteriovenous Malformations from Biplane DSA Images 746

R. Lundqvist, M. Söderman, K. Ericson, E. Bengtsson, and L. Thurfjell

Geometrical and Morphological Analysis of Vascular Branches fromFundus Retinal Images 756

M.E. Martínez-Pérez, A.D. Hughes, A.V. Stanton, S.A. Thom,N. Chapman, A.A. Bharath, and K.H. Parker

Visualization

Computer-Based Assessment of Body Image Distortion inAnorexia Nervosa Patients 766

D. Harari, M. Furst, N. Kiryati, A. Caspi, and M. Davidson

A Realistic Model of the Inner Organs from the Visible Human Data 776K.H. Höhne, B. Pflesser, A. Pommert, M. Riemer, R. Schubert,T. Schiemann, U. Tiede, and U. Schumacher

Automatic Centerline Extraction for 3D Virtual Bronchoscopy 786T.Y. Law and P.A. Heng

Mixed Reality Merging of Endoscopic Images and 3-D Surfaces 796D. Dey, P.J. Slomka, D.G. Gobbi, and T.M. Peters

Improving Triangle Mesh Quality with SurfaceNets 804P.W. de Bruin, F.M. Vos, F.H. Post, S.F. Frisken-Gibson,and A.M. Vossepoel

diSNei: A Collaborative Environment for Medical ImagesAnalysis and Visualization 814

C. Alberola, R. Cárdenes, M. Martín, M.A. Martín,M.A. Rodríguez-Florido, and J. Ruiz-Alzola

Table of Contents XXI

Surgical Navigation

Impact of Combined Preoperative Three-Dimensional ComputedTomography and Intraoperative Real-Time Three-DimensionalUltrasonography on Liver Surgery 824

M. Shimada, T. Hamatsu, T. Rikimaru, Y.-i. Yamashita, S. Tanaka,K. Shirabe, H. Honda, M. Hashizume, and K. Sugimachi

AR Navigation System for Neurosurgery 833Y. Akatsuka, T. Kawamata, M. Fujii, Y. Furuhashi, A. Saito,T. Shibasaki, H. Iseki, and T. Hori

Magneto-Optic Hybrid 3-D Sensor for Surgical Navigation 839M. Nakamoto, Y. Sato, Y. Tamaki, H. Nagano, M. Miyamoto,T. Sasama, M. Monden, and S. Tamura

Computer Assisted ENT Surgery Using Augmented Reality:Preliminary Results on the CAESAR Project 849

R.J. Lapeer, P. Chios, G. Alusi, A.D. Linney,M.K. Davey, and A.C. Tan

Interventions under Video-Augmented X-Ray Guidance:Application to Needle Placement 858

M. Mitschke, A. Bani-Hashemi, and N. Navab

The Varioscope AR - A Head-Mounted Operating Microscope forAugmented Reality 869

W. Birkfellner, M. Figl, K. Huber, F. Watzinger, F. Wanschitz,R. Hanel, A. Wagner, D. Rafolt, R. Ewers, and H. Bergmann

Medical Robotics

An Active Hand-Held Instrument for Enhanced MicrosurgicalAccuracy 878

W.T. Ang, C.N. Riviere, and P.K. Khosla

A New Robotic System for Visually Controlled PercutaneousInterventions under CT Fluoroscopy 887

M.H. Loser and N. Navab

A Miniature Instrument Tip Force Sensor for Robot/HumanCooperative Microsurgical Manipulation with EnhancedForce Feedback 897

P.J. Berkelman, L.L. Whitcomb, R.H. Taylor, and P. Jensen

XXII Table of Contents

Portable Virtual Endoscope System with Force and Visual Displayfor Insertion Training 907

K. Ikuta, K. Iritani, and J. Fukuyama

MR Compatible Surgical Assist Robot: System Integration andPreliminary Feasibility Study 921

K. Chinzei, N. Hata, F.A. Jolesz, and R. Kikinis

Needs Assessment for Computer-Integrated Surgery Systems 931S. Graham, R.H. Taylor, and M. Vannier

Robotic Assist for MR-Guided Surgery Using Leverage andParallelepiped Mechanism 940

Y. Koseki, K. Chinzei, N. Koyachi, and T. Arai

Endoscopic Robots 949C. Kübler, J. Raczkowsky, and H. Wörn

An Augmentation System for Fine Manipulation 956R. Kumar, G.D. Hager, A. Barnes, P. Jensen, and R.H. Taylor

Endoscopic Robotically Assisted Coronary Artery BypassAnastomosis on the Beating Heart: Analysis of Quality and Patency 966

M.A. Zenati, G.J. Burckart, and B.P. Griffith

Distributed Modular Computer-Integrated Surgical Robotic Systems:Implementation Using Modular Software and Networked Systems 969

A. Bzostek, R. Kumar, N. Hata, O. Schorr, R. Kikinis, and R.H. Taylor

Distributed Modular Computer-Integrated Surgical Robotic Systems:Architecture for Intelligent Object Distribution 979

O. Schorr, N. Hata, A. Bzostek, R. Kumar, C. Burghart,R.H. Taylor, and R. Kikinis

Motion-Based Robotic Instrument Targeting under C-Arm Fluoroscopy 988A. Patriciu, D. Stoianovici, L.L. Whitcomb, T. Jarrett, D. Mazilu,A. Stanimir, I. Iordachita, J. Anderson, R.H. Taylor, and L.R. Kavoussi

Plastic and Craniofacial Surgery

Image-Based 3D Planning of Maxillofacial Distraction ProceduresIncluding Soft Tissue Implications 999

F. Schutyser, J. Van Cleynenbreugel, M. Ferrant, J. Schoenaers,and P. Suetens

Table of Contents XXIII

Computer-Assisted Orthognathic Surgery: Consequences of aClinical Evaluation 1008

G. Bettega, F. Leitner, O. Raoult, V. Dessenne, P. Cinquin,and B. Raphael

PC-based Virtual Reality Surgical Simulation for OrthognathicSurgery 1019

J. Xia, N. Samman, C.K. Chua, R.W.K. Yeung, D. Wang,S.G. Shen, H.H.S. Ip, and H. Tideman

A 3-D System for Planning and Simulating Minimally-InvasiveDistraction Osteogenesis of the Facial Skeleton 1029

P.C. Everett, E.B. Seldin, M. Troulis, L.B. Kaban, and R. Kikinis

Modeling for Plastic and Reconstructive Breast Surgery 1040D.T. Chen, I.A. Kakadiaris, M.J. Miller, R.B. Loftin, and C. Patrick

Development of 3D Measuring Techniques for the Analysis ofFacial Soft Tissue Change 1051

Z. Mao, P. Sebert, and A.F. Ayoub

Accuracy of a Navigation System for Computer-AidedOral Implantology 1061

W. Birkfellner, F. Wanschitz, F. Watzinger, K. Huber, M. Figl,C. Schopper, R. Hanel, F. Kainberger, J. Kettenbach, S. Patruta,R. Ewers, and H. Bergmann

A 3D Finite Element Model of the Face for Simulation inPlastic and Maxillo-Facial Surgery 1068

M. Chabanas and Y. Payan

Orthopaedics

Simulation of Patellofemoral Joint Reconstruction Surgery onPatient-Specific Models 1076

Z.A. Cohen and G.A. Ateshian

A Strain-Energy Model of Passive Knee Kinematics for theStudy of Surgical Implantation Strategies 1086

E. Chen, R.E. Ellis, and J.T. Bryant

Computer-Assisted Anatomical Placement of a Double-BundleACL through 3D-Fitting of a Statistically Generated FemoralTemplate into Individual Knee Geometry 1096

J.W.H. Luites, A.B. Wymenga, M. Sati, Y. Bourquin, L. Blankevoort,R. van der Venne, J.G.M. Kooloos, and H.-U. Stäubli

XXIV Table of Contents

Post-Operative Measurement of Acetabular Cup Position UsingX-Ray/CT Registration 1104

D. LaRose, L. Cassenti, B. Jaramaz, J. E. Moody, T. Kanade,and A. DiGioia

Intraoperative Simulation and Planning Using a CombinedAcetabular and Femoral (CAF) Navigation System for TotalHip Replacement 1114

Y. Sato, T. Sasama, N. Sugano, K. Nakahodo, T. Nishii,K. Ozono, K. Yonenobu, T. Ochi, and S. Tamura

Fixation-Based Surgery: A New Technique for Distal Radius Osteotomy 1126H. Croitoru, R.E. Ellis, C.F. Small, and D.R. Pichora

A Computer-Assisted ACL Reconstruction System Assessment ofTwo Techniques of Graft Positioning in ACL Reconstruction 1136

F. Picard, J. E. Moody, V. Martinek, F. Fu, M. Rytel, C. Nikou,R.S. LaBarca, B. Jaramaz, and A. DiGioia

A Classification Proposal for Computer-Assisted Knee Systems 1145F. Picard, J.E. Moody, B. Jaramaz, A. DiGioia, C. Nikou,and R.S. LaBarca

A Navigation System for Computer Assisted UnicompartmentalArthroplasty 1152

M. Marcacci, O. Tonet, G. Megali, P. Dario, M.C. Carrozza,L. Nofrini, and P.F. La Palombara

An Augmented Reality Navigation System for Computer AssistedArthroscopic Surgery of the Knee 1158

O. Tonet, G. Megali, S. D�Attanasio, P. Dario, M.C. Carrozza,M. Marcacci, S. Martelli, and P.F. La Palombara

Repeatability and Accuracy of Bone Cutting and Ankle Digitizationin Computer-Assisted Total Knee Replacements 1163

K.B. Inkpen, A.J. Hodgson, C. Plaskos, C.A. Shute, and R.W. McGraw

Double-Bundle Anatomic ACL-Reconstruction with ComputerAssisted Surgery: An In-Vitro Study of the Anterior Laxity inKnees with Anatomic Double-Bundle versus IsometricSingle-Bundle Reconstruction 1173

J.W.H. Luites, A.B. Wymenga, L. Blankevoort, J.G.M. Kooloos,and M. Sati

Table of Contents XXV

Measurement of Pelvic Tilting Angle During Total Hip ArthroplastyUsing a Computer Navigation System 1176

S. Nishihara, N. Sugano, K. Nakahodo, T. Sasama, T. Nishii, Y. Sato,S. Tamura, K. Yonenobu, H. Yoshikawa, and T. Ochi

Efficacy of Robot-Assisted Hip Stem Implantation. A RadiographicComparison of Matched-Pair Femurs Prepared Manually andwith the Robodoc® System Using an Anatomic Prosthesis 1180

F. Gossé, K.H. Wenger, K. Knabe, and C.J. Wirth

Surgical Navigation for THR: A Report on Clinical TrialUtilizing HipNav 1185

T.J. Levison, J.E. Moody, B. Jaramaz, C. Nikou, and A. DiGioia

Description of Anatomic Coordinate Systems and Rationale for Usein an Image-Guided Total Hip Replacement System 1188

C. Nikou, B. Jaramaz, A. DiGioia, and T.J. Levison

XIMIT - X-Ray Migration Measurement Using Implant Models andImage Templates 1195

K. Burckhardt and G. Székely

Construction of 3D Shape Models of Femoral Articular CartilageUsing Harmonic Maps 1205

A.D. Brett and C.J. Taylor

Virtual Fluoroscopy: Safe Zones for Pelvic Screw Fixations 1215B. König, U. Stöckle, M. Sati, L.P. Nolte, and N.P. Haas

Three-Dimensional Measurement of the Femur Using ClinicalUltrasound: Developing a Basis for Image Guided IntramedullaryNail Fixation of the Femur 1220

D.I. Young, S.M. Staniforth, and R.W. Hu

Percutaneous Computer Assisted Iliosacral Screwing: Clinical Validation 1229L. Carrat, J. Tonetti, P. Merloz, and J. Troccaz

Milling versus Sawing: Comparison of Temperature Elevation andClinical Performance During Bone Cutting 1238

A. Malvisi, P. Vendruscolo, F. Morici, S. Martelli, and M. Marcacci

Author Index 1245