A Novel Augmented Reality Assisted Orthopedic Surgical Robotic System With Bidirectional Surface Registration Algorithms

IF 3.4 Q2 ENGINEERING, BIOMEDICAL
Ang Zhang;Zhe Min;Zhengyan Zhang;Yingying Wang;Max Q.-H. Meng
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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.
采用双向表面注册算法的新型增强现实辅助骨科手术机器人系统
本文介绍了一种基于头戴式显示器(HMD)设备的新型增强现实(AR)辅助骨科手术机器人系统。该系统可将术前计划叠加到病人的解剖结构上,并通过集成的校准和注册组件在干预过程中为外科医生提供有用的指导。该系统开发了一种新颖的双向广义点集配准算法,利用稳健的特征对术前 CT 和术中患者空间进行精确配准,该算法已被证明优于现有的配准方法。通过一项代表全膝关节置换术(TKA)的体外研究,对该系统的功效进行了定性和定量评估。实验结果表明:1)该系统能成功对准术前和术中空间,平均目标配准误差(TRE)为2.78美元;2.51毫米;2)模型能正确叠加到物理场景中,平均AR可视化精度为6.97美元;1.57毫米。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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CiteScore
6.80
自引率
0.00%
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