Aligning 3D Curve with Surface Using Tangent and Normal Vectors for Computer-Assisted Orthopedic Surgery

Min，Zhe1; Zhu，Delong2; Liu，Jianbang2; Ren，Hongliang3,5; Meng，Max Q.H.2,4,6

2021-05-01

10.1109/TMRB.2021.3075784

IEEE Transactions on Medical Robotics and Bionics   影响因子和分区

2576-3202

2576-3202

Registration that aligns different views of one interested organ together is an essential technique and outstanding problem in medical robotics and image-guided surgery (IGS). This work introduces a novel rigid point set registration (PSR) approach that aims to accurately map the pre-operative space with the intra-operative space to enable successful image guidance for computer-assisted orthopaedic surgery (CAOS). The normal vectors and tangent vectors are first extracted from the pre-operative and intra-operative point sets (PSs) respectively, and are further utilized to enhance the registration accuracy and robustness. The contributions of this article are three-folds. First, we propose and formulate a novel distribution that describes the error between one normal vector and the corresponding tangent vector based on the von-Mises Fisher (vMF) distribution. Second, by modelling the anisotropic position localization error with the multi-variate Gaussian distribution, we formulate the PSR considering anisotropic localization error as a maximum likelihood estimation (MLE) problem and then solve it under the expectation maximization (EM) framework. Third, to facilitate the optimization process, the gradients of the objective function with respect to the desired parameters are computed and presented. Extensive experimental results on the human femur and pelvis models verify that the proposed approach outperforms the state-of-the-art methods, and demonstrate potential clinical values for relevant surgical navigation applications.

anisotropic positional localization error computer-assisted orthopedic surgery (CAOS) expectation maximization (EM) Image-to-patient registration maximum likelihood estimation (MLE) von-Mises Fisher (vMF) distribution

EI

英语

其他

20211810302510

Agricultural robots ; Air navigation ; Anisotropy ; Errors ; Geometry ; Image segmentation ; Maximum likelihood estimation ; Maximum principle ; Medical imaging ; Medical robotics ; Orthopedics ; Surgery ; Vectors

Air Navigation and Traffic Control:431.5 ; Medicine and Pharmacology:461.6 ; Imaging Techniques:746 ; Mathematics:921 ; Algebra:921.1 ; Statistical Methods:922 ; Physical Properties of Gases, Liquids and Solids:931.2

2-s2.0-85108633844

Scopus

1.Department of Medical Physics and Biomedical Engineering,University College London,London,United Kingdom
2.Department of Electronic Engineering,The Chinese University of Hong Kong,Hong Kong
3.Department of Electronic Engineering,Shun Hing Institute of Advanced Engineering,The Chinese University of Hong Kong,Hong Kong
4.Department of Electronic and Electrical Engineering,Southern University of Science and Technology,Shenzhen,China
5.Department of Biomedical Engineering,National University of Singapore,117575,Singapore
6.Shenzhen Research Institute,The Chinese University of Hong Kong,Shenzhen,518172,China

Min，Zhe,Zhu，Delong,Liu，Jianbang,et al. Aligning 3D Curve with Surface Using Tangent and Normal Vectors for Computer-Assisted Orthopedic Surgery[J]. IEEE Transactions on Medical Robotics and Bionics,2021,3(2):372-383.

Min，Zhe,Zhu，Delong,Liu，Jianbang,Ren，Hongliang,&Meng，Max Q.H..(2021).Aligning 3D Curve with Surface Using Tangent and Normal Vectors for Computer-Assisted Orthopedic Surgery.IEEE Transactions on Medical Robotics and Bionics,3(2),372-383.

Min，Zhe,et al."Aligning 3D Curve with Surface Using Tangent and Normal Vectors for Computer-Assisted Orthopedic Surgery".IEEE Transactions on Medical Robotics and Bionics 3.2(2021):372-383.