Title |
Minimally invasive registration for computer-assisted orthopedic surgery: combining tracked ultrasound and bone surface points via the P-IMLOP algorithm
|
---|---|
Published in |
International Journal of Computer Assisted Radiology and Surgery, April 2015
|
DOI | 10.1007/s11548-015-1188-z |
Pubmed ID | |
Authors |
Seth Billings, Hyun Jae Kang, Alexis Cheng, Emad Boctor, Peter Kazanzides, Russell Taylor |
Abstract |
We present a registration method for computer-assisted total hip replacement (THR) surgery, which we demonstrate to improve the state of the art by both reducing the invasiveness of current methods and increasing registration accuracy. A critical element of computer-guided procedures is the determination of the spatial correspondence between the patient and a computational model of patient anatomy. The current method for establishing this correspondence in robot-assisted THR is to register points intraoperatively sampled by a tracked pointer from the exposed proximal femur and, via auxiliary incisions, from the distal femur. In this paper, we demonstrate a noninvasive technique for sampling points on the distal femur using tracked B-mode ultrasound imaging and present a new algorithm for registering these data called Projected Iterative Most-Likely Oriented Point (P-IMLOP). Points and normal orientations of the distal bone surface are segmented from ultrasound images and registered to the patient model along with points sampled from the exposed proximal femur via a tracked pointer. The proposed approach is evaluated using a bone- and tissue-mimicking leg phantom constructed to enable accurate assessment of experimental registration accuracy with respect to a CT-image-based model of the phantom. These experiments demonstrate that localization of the femur shaft is greatly improved by tracked ultrasound. The experiments further demonstrate that, for ultrasound-based data, the P-IMLOP algorithm significantly improves registration accuracy compared to the standard ICP algorithm. Registration via tracked ultrasound and the P-IMLOP algorithm has high potential to reduce the invasiveness and improve the registration accuracy of computer-assisted orthopedic procedures. |
Mendeley readers
Geographical breakdown
Country | Count | As % |
---|---|---|
France | 1 | 3% |
Unknown | 36 | 97% |
Demographic breakdown
Readers by professional status | Count | As % |
---|---|---|
Student > Ph. D. Student | 4 | 11% |
Student > Master | 4 | 11% |
Student > Bachelor | 3 | 8% |
Student > Doctoral Student | 3 | 8% |
Researcher | 3 | 8% |
Other | 8 | 22% |
Unknown | 12 | 32% |
Readers by discipline | Count | As % |
---|---|---|
Engineering | 8 | 22% |
Medicine and Dentistry | 8 | 22% |
Computer Science | 7 | 19% |
Materials Science | 1 | 3% |
Unknown | 13 | 35% |