SLAM-TKA: Simultaneously Localising X-ray Device and Mapping Pins in Conventional Total Knee Arthroplasty

Shuai Zhang1; Liang Zhao2; Shoudong Huang3; Hua Wang4; Qi Luo4; Qi Hao5; Danail Stoyanov1

2024

10.1109/TMRB.2024.3465565

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

2576-3202

This paper presents a novel simultaneous localisation and mapping (SLAM) technique, termed SLAM-TKA, for assisting total knee arthroplasty (TKA), a highly effective orthopaedic surgery that replaces arthritic or dysfunctional joint surfaces with knee prostheses. Our proposed SLAM algorithm uses information from a pre-operative tibia CT scan, intra-operative 2D X-ray images, and a trocar pin 3D mesh model to simultaneously localise the X-ray device and map the two trocar pins. Then, the estimated pins are used to evaluate the accuracy of the bone resection plane before the actual bone cutting, which plays a crucial role in precisely implanting the knee prostheses. To ensure high accuracy and robustness of the proposed SLAM algorithm, three energy terms are proposed and used together to align the edge observations of the tibia, fibula and pins on the intra-operative X-ray images and their corresponding pre-operative 3D mesh models in both 2D and 3D space. To enable the proposed iteration-based SLAM algorithm to be implemented in real-time such that the evaluation processing does not interrupt much on the workflow of TKA, the data association of edge correspondences matching and exhausted points-to-mesh distance calculation are pre-computed using the signed distance field method. Simulations are used to evaluate the accuracy and robustness of the proposed algorithm, and the experiments using in-vivo datasets from five patients demonstrate the high accuracy and efficiency in practice. The code and datasets are released at https://github.com/zsustc/SLAM-TKA.

其他

1.the Department of Computer Science, UCL Hawkes Institute, University College London, London, U.K.
2.Institute of Perception, Action, and Behaviour, The University of Edinburgh, U.K.
3.Faculty of Engineering and Information Technology, Robotics Institute, University of Technology, Sydney, Australia
4.Department of Joint Surgery, Shenzhen People’s Hospital, Shenzhen, China
5.Department of Computer Science and Engineering, Research Institute of Trustworthy Autonomous Systems, Southern University of Science and Technology, Shenzhen, China

Shuai Zhang,Liang Zhao,Shoudong Huang,et al. SLAM-TKA: Simultaneously Localising X-ray Device and Mapping Pins in Conventional Total Knee Arthroplasty[J]. IEEE Transactions on Medical Robotics and Bionics,2024,PP(99).

Shuai Zhang.,Liang Zhao.,Shoudong Huang.,Hua Wang.,Qi Luo.,...&Danail Stoyanov.(2024).SLAM-TKA: Simultaneously Localising X-ray Device and Mapping Pins in Conventional Total Knee Arthroplasty.IEEE Transactions on Medical Robotics and Bionics,PP(99).

Shuai Zhang,et al."SLAM-TKA: Simultaneously Localising X-ray Device and Mapping Pins in Conventional Total Knee Arthroplasty".IEEE Transactions on Medical Robotics and Bionics PP.99(2024).