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            <title xml:lang="en">3D Ultrasound Bone Tracking for Orthopaedic</title>
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                <title xml:lang="en">3D Ultrasound Bone Tracking for Orthopaedic</title>
                <title xml:lang="fr">Echographie 3D dynamique pour le suivi d'une structure osseuse en orthopédie</title>
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                <authority type="supervisor">Jocelyne Troccaz(Jocelyne.Troccaz@imag.fr)</authority>
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                <authority type="jury">Mme Jocelyne Troccaz, Directeur de thèse</authority>
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                <term xml:lang="en">3D Ultrasound</term>
                <term xml:lang="en">Rigid registration</term>
                <term xml:lang="en">Noninvasive tracking</term>
                <term xml:lang="fr">Echographie 3D</term>
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              <p>In the domain of therapeutic and diagnostic procedures in computer assisted orthopaedics, it is essential to know the precise position and orientation of a bony structure. Depending on the procedure, localisation is typically obtained either by the implantation of rigid bodies or by the use of external markers placed on the skin. The first method is relatively precise but has the disadvantage of being invasive. The second method is non-invasive, however it lacks precision due to motion of the skin. We propose an alternative solution by localization through the use of 3D ultrasound images. One of the main difficulties with our method is the specificity of ultrasound with respect to bony structures. We have developped a rigid, voxel-based registration method using a hybrid similarity measure calculated from the original images and mapped images. A number of experiments were undertaken in order to evaluate our approach. The results obtained show promise for the technique.</p>
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              <p>Dans le cadre des applications thérapeutique et diagnostique en orthopédie assistées par ordinateur, il est essentiel de pouvoir connaître avec précision la position et l'orientation d'une structure osseuse. Selon le domaine d'application, la localisation est obtenue soit par l'implantation d'un corps rigide localisé soit par l'utilisation de marqueurs externes collés sur la peau. Le premier dispositif est relativement précis mais il est assez invasif. Le second est non invasif mais il est peu précis. Nous proposons une solution alternative à ces approches par la mise en œuvre d'un suivi par échographie 3D. Une difficulté vient bien évidemment de la spécificité des ultrasons vis-à-vis des structures osseuses. Nous avons développé un algorithme de recalage iconique rigide utilisant une mesure de similarité hybride calculée sur les images originales et des images de régions. Diverses expérimentations ont été menées pour évaluer notre approche. Les résultats obtenus sont assez prometteurs.</p>
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