Fiducial-free 2D/3D registration of the proximal femur for robot-assisted femoroplasty

Cong Gao; Robert B. Grupp; Mathias Unberath; Russell H. Taylor; Mehran Armand

doi:10.1117/12.2550992

16 March 2020 Fiducial-free 2D/3D registration of the proximal femur for robot-assisted femoroplasty

Cong Gao, Robert B. Grupp, Mathias Unberath, Russell H. Taylor, Mehran Armand

Proceedings Volume 11315, Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling; 113151C (2020) https://doi.org/10.1117/12.2550992
Event: SPIE Medical Imaging, 2020, Houston, Texas, United States

Abstract

Femroplasty is a proposed therapeutic method for preventing osteoporotic hip fractures in elderly. Patientspecific 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 ℓ₂ distance and 0.81 ± 0.58° for the planning path direction, which is sufficiently accurate for robotic drill positioning.

Conference Presentation

Citation Download Citation

Cong Gao, Robert B. Grupp, Mathias Unberath, Russell H. Taylor, and Mehran Armand "Fiducial-free 2D/3D registration of the proximal femur for robot-assisted femoroplasty", Proc. SPIE 11315, Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling, 113151C (16 March 2020); https://doi.org/10.1117/12.2550992

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