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Proceedings Paper

Fiducial-free 2D/3D registration of the proximal femur for robot-assisted femoroplasty
Author(s): Cong Gao; Robert B. Grupp; Mathias Unberath; Russell H. Taylor; Mehran Armand
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Paper 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.

Paper Details

Date Published: 16 March 2020
PDF: 6 pages
Proc. SPIE 11315, Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling, 113151C (16 March 2020);
Show Author Affiliations
Cong Gao, Johns Hopkins Univ. (United States)
Robert B. Grupp, Johns Hopkins Univ. (United States)
Mathias Unberath, Johns Hopkins Univ. (United States)
Russell H. Taylor, Johns Hopkins Univ. (United States)
Mehran Armand, Johns Hopkins Univ. (United States)
Johns Hopkins Bayview Medical Ctr. (United States)

Published in SPIE Proceedings Vol. 11315:
Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling
Baowei Fei; Cristian A. Linte, Editor(s)

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