Calibration and Registration of a Freehand Video-Guided Surgical Drill for Orthopaedic Trauma.
Calibration and Registration of a Freehand Video-Guided Surgical Drill for Orthopaedic Trauma.
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用于骨科创伤的徒手视频引导手术钻的校准和配准。
DOI：
10.1117/12.2550001
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发表时间：
2020
期刊：
影响因子：
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通讯作者：
Siewerdsen,JH
中科院分区：
文献类型：
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作者：
Vagdargi,P;Uneri,A;Sheth,N;Sisniega,A;DeSilva,T;Osgood,GM;Siewerdsen,JH
骨盆创伤外科手术在很大程度上依赖于 2D 透视视图的引导，以在复杂的骨通道中进行导航。这种“荧光追踪”范例会导致辐射暴露时间延长，并且由于二维透视中重叠解剖结构对骨折部位的可视化有限，导丝放置可能不理想。提出了一种新颖的基于计算机视觉的徒手导丝插入导航系统。该导航框架与创伤手术的快速工作流程兼容，并弥合了术中透视和术前 CT 图像之间的差距。该系统使用钻头安装的摄像头来检测和跟踪简单的多模态（光学/射线照相）标记的姿势，以便将钻轴注册到透视检查，进而注册到 CT。通过在荧光镜视图上实时显示钻轴位置以及可选地在术前 CT 上以 3D 形式显示钻轴位置来实现手术导航。相机针对镜头畸变效应进行了校正，并针对 3D 姿态估计进行了校准。构建定制标记夹具来相对于相机框架校准钻轴和工具提示。开发了用于评估导航系统的测试平台，其中包括用于精确、可重复地放置钻头的机械臂。使用 Park 和 Martin 解算器对钻头安装的摄像机和机器人之间的手眼校准进行了实验。使用棋盘校准的实验证明了相机畸变校正的亚像素精度 [−0.01 ± 0.23 px]。钻轴使用圆柱模型进行校准，并证明了亚毫米精度 [0.14 ± 0.70 毫米] 和亚度角偏差。
Pelvic trauma surgical procedures rely heavily on guidance with 2D fluoroscopy views for navigation in complex bone corridors. This “fluoro-hunting” paradigm results in extended radiation exposure and possible suboptimal guidewire placement from limited visualization of the fractures site with overlapped anatomy in 2D fluoroscopy. A novel computer visionbased navigation system for freehand guidewire insertion is proposed. The navigation framework is compatible with the rapid workflow in trauma surgery and bridges the gap between intraoperative fluoroscopy and preoperative CT images. The system uses a drill-mounted camera to detect and track poses of simple multimodality (optical/radiographic) markers for registration of the drill axis to fluoroscopy and, in turn, to CT. Surgical navigation is achieved with real-time display of the drill axis position on fluoroscopy views and, optionally, in 3D on the preoperative CT. The camera was corrected for lens distortion effects and calibrated for 3D pose estimation. Custom marker jigs were constructed to calibrate the drill axis and tooltip with respect to the camera frame. A testing platform for evaluation of the navigation system was developed, including a robotic arm for precise, repeatable, placement of the drill. Experiments were conducted for hand-eye calibration between the drill-mounted camera and the robot using the Park and Martin solver. Experiments using checkerboard calibration demonstrated subpixel accuracy [−0.01 ± 0.23 px] for camera distortion correction. The drill axis was calibrated using a cylindrical model and demonstrated sub-mm accuracy [0.14 ± 0.70 mm] and sub-degree angular deviation.