Spherical harmonics based intrasubject 3-D kidney modeling/registration technique applied on partial information.

This paper presents a three-dimensional (3-D) shape reconstruction/intrapatient rigid registration technique used to establish a Nephron-Sparing Surgery preoperative planning. The usual preoperative imaging system is the Spiral CT Urography, which provides successive 3-D acquisitions of complementary information on kidney anatomy. Because the kidney is difficult to demarcate from the liver or from the spleen only limited information on its volume or surface is available. In this paper, we propose a methodology allowing a global kidney spatial representation on a spherical harmonics basis. The spherical harmonics are exploited to recover the kidney 3-D shape and also to perform intrapatient 3-D rigid registration. An evaluation performed on synthetic data showed that this technique presented lower performance then expected for the 3-D shape recovering but exhibited registration results slightly more accurate as the iterative closest point technique with faster computation time.