Fiducial-Free 2D/3D Registration for Robot-Assisted Femoroplasty.
Fiducial-Free 2D/3D Registration for Robot-Assisted Femoroplasty.
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DOI：
10.1109/tmrb.2020.3012460
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发表时间：
2020-08
期刊：
影响因子：
--
通讯作者：
Armand M
中科院分区：
文献类型：
--
作者：
Gao C;Farvardin A;Grupp RB;Bakhtiarinejad M;Ma L;Thies M;Unberath M;Taylor RH;Armand M
股骨成形术是一种预防老年人髋关节骨折的替代治疗方法。以前开发的股骨成形术导航系统需要将外部X射线基准连接到股骨。我们提出了一个无基准的2D/3D配准管道，使用透视图像的机器人辅助股骨成形术。从多个视图获取术中荧光透视图像，以进行股骨和钻孔/注射器械的配准。所提出的方法进行了测试，通过全面的模拟和尸体的研究。根据股骨和钻孔/注射器械的配准误差评价性能。在模拟中，所提出的方法实现了相对计划注射进入点的平均精度为1.26±0.74 mm;股骨注射路径方向和器械导向器方向的平均精度分别为0.63±0.21°和0.17±0.19°。在尸体研究中，计划进入点和器械导引头端之间的平均误差为2.64 ± 1.10 mm。生物力学分析表明，即使与最佳注射路径有4 mm的平移偏差，断裂前的屈服载荷也增加了40.7%。该结果表明，无基准2D/3D配准足够准确，可指导机器人辅助股骨成形术。
Femoroplasty is a proposed alternative therapeutic method for preventing osteoporotic hip fractures in the elderly. Previously developed navigation system for femoroplasty required the attachment of an external X-ray fiducial to the femur. We propose a fiducial-free 2D/3D registration pipeline using fluoroscopic images for robot-assisted femoroplasty. Intraoperative fluoroscopic images are taken from multiple views to perform registration of the femur and drilling/injection device. The proposed method was tested through comprehensive simulation and cadaveric studies. Performance was evaluated on the registration error of the femur and the drilling/injection device. In simulations, the proposed approach achieved a mean accuracy of 1.26±0.74 mm for the relative planned injection entry point; 0.63±0.21° and 0.17±0.19° for the femur injection path direction and device guide direction, respectively. In the cadaver studies, a mean error of 2.64 ± 1.10 mm was achieved between the planned entry point and the device guide tip. The biomechanical analysis showed that even with a 4 mm translational deviation from the optimal injection path, the yield load prior to fracture increased by 40.7%. This result suggests that the fiducial-less 2D/3D registration is sufficiently accurate to guide robot assisted femoroplasty.
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影响因子：
10.6
作者：
Otake Y;Armand M;Armiger RS;Kutzer MD;Basafa E;Kazanzides P;Taylor RH
通讯作者：
Taylor RH
DOI：
10.1007/s11548-019-02011-2
发表时间：
2019-09-01
影响因子：
3
作者：
Unberath, Mathias;Zaech, Jan-Nico;Navab, Nassir
通讯作者：
Navab, Nassir
影响因子：
2.4
作者：
Basafa, Ehsan;Murphy, Ryan J.;Armand, Mehran
通讯作者：
Armand, Mehran
影响因子：
2.4
作者：
Basafa, Ehsan;Armand, Mehran
通讯作者：
Armand, Mehran
影响因子：
2.4
作者：
Farvardin, Amirhossein;Basafa, Ehsan;Armand, Mehran
通讯作者：
Armand, Mehran