Evaluation of intersession 3D-TRUS to 3D-TRUS image registration for repeat prostate biopsies.

Intensity-based rigid registration is clinically sufficient to register regions outside the peripheral zone, but nonrigid registration is required in order to register the peripheral zone with clinically needed accuracy. The clinical advantage of using nonrigid registration is questionable since the difference between the RMS TREs for rigid and nonrigid intensity-based registration could be considered to be small (0.3 mm) and is statistically significant. If the added clinical value in performing a nonrigid registration is insufficient given the additional time required for this computation, rigid registration alone may be suitable.