Fiducial-Free 2D/3D Registration for Robot-Assisted Femoroplasty.
IEEE Trans Med Robot Bionics
; 2(3): 437-446, 2020 Aug.
Article
em En
| MEDLINE
| ID: mdl-33763632
ABSTRACT
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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1
Coleções:
01-internacional
Base de dados:
MEDLINE
Idioma:
En
Revista:
IEEE Trans Med Robot Bionics
Ano de publicação:
2020
Tipo de documento:
Article