Paper Info
Title
Fiducial-Free 2d/3d Registration Of The Proximal Femur For Robot-Assisted Femoroplasty
Abstract
Femroplasty is a proposed therapeutic method for preventing osteoporotic hip fractures in elderly. Patient-specific femoroplasty based on a preoperative plan, however, requires accurate 3D pose estimation of the proximal femur. Prior work on the development of a navigation system required the attachment of an optical fiducial to the osteoporotic femur. In this paper, we propose a fiducial-free 2D/3D registration pipeline, which uses the pelvis to initialize the femur registration. Intraoperative X-ray images are taken from multiple views to perform compound object registration. The proposed method was tested through a comprehensive simulation study. Performance was evaluated on the femoral head center frame registration error and the injection entry point error on the trochanter surface. The algorithm achieved a mean accuracy of 2.75 +/- 2.19 mm for the entry point l(2) distance and 0.81 +/- 0.58 degrees for the planning path direction, which is sufficiently accurate for robotic drill positioning.
Year
DOI
Venue
2020
10.1117/12.2550992
MEDICAL IMAGING 2020: IMAGE-GUIDED PROCEDURES, ROBOTIC INTERVENTIONS, AND MODELING
Keywords
DocType
Volume
2D/3D Registration, Femur Registration, X-ray Navigation, Femoroplasty
Conference
11315
ISSN
Citations 
PageRank 
0277-786X
0
0.34
References 
Authors
0
5
Name
Order
Citations
PageRank
Cong Gao172.54
r b grupp233.47
mathias unberath35624.46
Russell H. Taylor41970438.00
M Armand516927.17