Paper Info
Title
Minimally invasive registration for computer-assisted orthopedic surgery: combining tracked ultrasound and bone surface points via the P-IMLOP algorithm.
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.
Year
DOI
Venue
2015
10.1007/s11548-015-1188-z
International Journal for Computer Assisted Radiology and Surgery
Keywords
Field
DocType
Oriented point registration, Ultrasound-CT registration, Computer-assisted orthopedic surgery, Total hip replacement surgery
Patient registration,Computer-assisted orthopedic surgery,Femur,Total hip replacement surgery,Radiology,Medicine,Ultrasound
Journal
Volume
Issue
ISSN
10
6
1861-6429
Citations 
PageRank 
References 
1
0.37
23
Authors
6
Name
Order
Citations
PageRank
Seth Billings1354.93
Hyun-Jae Kang210.37
Alexis Cheng341.39
Emad Boctor410.37
Peter Kazanzides558496.63
Russell H. Taylor61970438.00