Towards an Accurate Augmented-Reality-Assisted Orthopedic Surgical Robotic System Using Bidirectional Generalized Point Set Registration

Ang Zhang1; Zhe Min2; Yingying Wang1; Max Q.-H. Meng3

10.1109/IROS55552.2023.10341401

2023

IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

2153-0858

978-1-6654-9191-4

2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

4600-4607

1-5 Oct. 2023

Detroit, MI, USA

345 E 47TH ST, NEW YORK, NY 10017 USA

IEEE

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 simulating 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 2.7771 mm; 2) the models can be properly overlaid to the physical scenarios with the mean AR visualization accuracy being 6.9726 mm.

Visualization Medical robotics Simultaneous localization and mapping Robot kinematics Robot vision systems Surgery Resists

其他

英语

EI ; CPCI-S

National Key R&D program of China[2019YFB1312400]

Computer Science ; Robotics

Computer Science, Artificial Intelligence ; Computer Science, Information Systems ; Computer Science, Theory & Methods ; Robotics

WOS:001133658803069

20240315411878

Arthroplasty ; Geometry ; Helmet mounted displays ; Orthopedics ; Robotics

Biomechanics, Bionics and Biomimetics:461.3 ; Medicine and Pharmacology:461.6 ; Computer Software, Data Handling and Applications:723 ; Robotics:731.5 ; Mathematics:921

IEEE

1.Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong, China
2.School of Control Science and Engineering, Shandong University, China
3.Department of Electronic and Electrical Engineering, Southern University of Science and Technology, Shenzhen, China

Ang Zhang,Zhe Min,Yingying Wang,et al. Towards an Accurate Augmented-Reality-Assisted Orthopedic Surgical Robotic System Using Bidirectional Generalized Point Set Registration[C]. 345 E 47TH ST, NEW YORK, NY 10017 USA:IEEE,2023:4600-4607.