CONFERENCE PROCEEDINGS
Advanced Search
Home > Journals > J. Med. Imag. > Volume 5 > Issue 2 > Article
Translator Disclaimer
6 February 2018 Robotic drill guide positioning using known-component 3D–2D image registration
Thomas Yi, Vignesh Ramchandran, Jeffrey H. Siewerdsen, Ali Uneri
Author Affiliations +
Journal of Medical Imaging, Vol. 5, Issue 2, 021212 (February 2018). https://doi.org/10.1117/1.JMI.5.2.021212
Abstract
A method for x-ray image-guided robotic instrument positioning is reported and evaluated in preclinical studies of spinal pedicle screw placement with the aim of improving delivery of transpedicle K-wires and screws. The known-component (KC) registration algorithm was used to register the three-dimensional patient CT and drill guide surface model to intraoperative two-dimensional radiographs. Resulting transformations, combined with offline hand–eye calibration, drive the robotically held drill guide to target trajectories defined in the preoperative CT. The method was assessed in comparison with a more conventional tracker-based approach, and robustness to clinically realistic errors was tested in phantom and cadaver. Deviations from planned trajectories were analyzed in terms of target registration error (TRE) at the tooltip (mm) and approach angle (deg). In phantom studies, the KC approach resulted in TRE=1.51±0.51  mm and 1.01  deg±0.92  deg, comparable with accuracy in tracker-based approach. In cadaver studies with realistic anatomical deformation, the KC approach yielded TRE=2.31±1.05  mm and 0.66  deg±0.62  deg, with statistically significant improvement versus tracker (TRE=6.09±1.22  mm and 1.06  deg±0.90  deg). Robustness to deformation is attributed to relatively local rigidity of anatomy in radiographic views. X-ray guidance offered accurate robotic positioning and could fit naturally within clinical workflow of fluoroscopically guided procedures.
© 2018 Society of Photo-Optical Instrumentation Engineers (SPIE) 2329-4302/2018/$25.00 © 2018 SPIE
Citation Download Citation
Thomas Yi, Vignesh Ramchandran, Jeffrey H. Siewerdsen, and Ali Uneri "Robotic drill guide positioning using known-component 3D–2D image registration," Journal of Medical Imaging 5(2), 021212 (6 February 2018). https://doi.org/10.1117/1.JMI.5.2.021212
Received: 18 September 2017; Accepted: 4 January 2018; Published: 6 February 2018
ACCESS THE FULL ARTICLE
PERSONAL SIGN IN
Full access may be available with your subscription
Forgot your username?
Forgot your password?
No SPIE account? Create an account
Institutional Access:
Sign in with your institutional credentials
PURCHASE THIS CONTENT
SUBSCRIBE TO DIGITAL LIBRARY
50 downloads per 1-year subscription
Members: $195
Non-members: $335 ADD TO CART
25 downloads per 1 - year subscription
Members: $145
Non-members: $250 ADD TO CART
PURCHASE SINGLE ARTICLE
Includes PDF, HTML & Video, when available
Members: $24.00
Non-members: $28.00 ADD TO CART
JOURNAL ARTICLE
 8 PAGES
DOWNLOAD PAPER SAVE TO MY LIBRARY
SHARE
GET CITATION
Lens.org Logo
CITATIONS
Cited by 16 scholarly publications.
Advertisement
Advertisement
KEYWORDS
Robotics
Image registration
Calibration
Optical tracking
Surgery
Radiography
3D modeling
RELATED CONTENT
Subscribe to Digital Library
Receive Erratum Email Alert
Back to Top