Ang Zhang;Zhe Min;Zhengyan Zhang;Yingying Wang;Max Q.-H. Meng
{"title":"A Novel Augmented Reality Assisted Orthopedic Surgical Robotic System With Bidirectional Surface Registration Algorithms","authors":"Ang Zhang;Zhe Min;Zhengyan Zhang;Yingying Wang;Max Q.-H. Meng","doi":"10.1109/TMRB.2024.3472844","DOIUrl":null,"url":null,"abstract":"This paper presents a novel augmented reality (AR)-assisted orthopedic surgical robotic system based on Head-Mounted Display (HMD) devices. The proposed system can overlay the preoperative plans over the patient’s anatomy and provide useful guidance for surgeons during interventions, with integrated calibration and registration components. A novel bi-directional generalised point set registration algorithm that utilises robust features is developed to accurately align the pre-operative CT and intra-operative patient spaces, which has been demonstrated to outperform existing registration methods. The efficacy of the system is both qualitatively and quantitatively assessed with an in vitro study representing a total knee arthroplasty (TKA) procedure. The experimental results showed that 1) the system can successfully align the preoperative and intraoperative spaces, with the mean target registration error (TRE) being \n<inline-formula> <tex-math>$2.78 \\; \\pm \\; 2.51$ </tex-math></inline-formula>\n mm; 2) the models can be properly overlaid to the physical scenarios with the mean AR visualization accuracy being \n<inline-formula> <tex-math>$6.97 \\; \\pm \\; 1.57$ </tex-math></inline-formula>\n mm.","PeriodicalId":73318,"journal":{"name":"IEEE transactions on medical robotics and bionics","volume":null,"pages":null},"PeriodicalIF":3.4000,"publicationDate":"2024-10-03","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE transactions on medical robotics and bionics","FirstCategoryId":"1085","ListUrlMain":"https://ieeexplore.ieee.org/document/10704799/","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"ENGINEERING, BIOMEDICAL","Score":null,"Total":0}
引用次数: 0
Abstract
This paper presents a novel augmented reality (AR)-assisted orthopedic surgical robotic system based on Head-Mounted Display (HMD) devices. The proposed system can overlay the preoperative plans over the patient’s anatomy and provide useful guidance for surgeons during interventions, with integrated calibration and registration components. A novel bi-directional generalised point set registration algorithm that utilises robust features is developed to accurately align the pre-operative CT and intra-operative patient spaces, which has been demonstrated to outperform existing registration methods. The efficacy of the system is both qualitatively and quantitatively assessed with an in vitro study representing a total knee arthroplasty (TKA) procedure. The experimental results showed that 1) the system can successfully align the preoperative and intraoperative spaces, with the mean target registration error (TRE) being
$2.78 \; \pm \; 2.51$
mm; 2) the models can be properly overlaid to the physical scenarios with the mean AR visualization accuracy being
$6.97 \; \pm \; 1.57$
mm.