Background: Prostate cancer (PCa) has become a serious threat to the health of men in the
world. Combining the advantages of magnetic resonance imaging (MRI) and transrectal ultrasound
(TRUS) images for the diagnosis and treatment of prostate is a hot research topic in recent years and
image registration is an important step in image fusion.
Objective: To survey recent patents and academic papers relating to registration methods which use preoperative
MR images and intra-operative TRUS images of prostate as sources of data to be registered
and provide a reference for those searching for literature on a specific application.
Method: In this paper, we review the current status of registration methods for MRI-TRUS imageguided
interventions of prostate mainly in the aspects of feature space, geometrical transformation, optimization
strategy, image dimensionality, public availability and evaluation methodology.
Results: The registration methods used in prostate intervention with the guidance of MRI-TRUS image
in the last 15 years are classified and analysed according to their respective characteristics. The current
and future development in regard to the issues of this field is discussed and explored.
Conclusion: MR and US image registration method used in prostate intervention is mainly towards the
direction of 3D registration and the registration based on 3D surface has become the mainstream. The
local features-based registration, such as the MIND method is a direction of future development. The
deformation of prostate is a challenge to the registration of MRI-TRUS images. The simulated annealing
algorithm, levenberg-marquardt (LM) algorithm, expectation maximisation (EM) algorithm and iterative
closest point (ICP)-like algorithm are often used as the optimization strategy in MRI and TRUS
registration. TRE and DSC based on anatomic landmarks are the main methods of evaluation.