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

Ang Zhang1; Zhe Min2; Zhengyan Zhang3; Yingying Wang4; Max Q.-H. Meng5,6,7

2024

10.1109/TMRB.2024.3472844

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

2576-3202

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 ± 2.51 mm; 2) the models can be properly overlaid to the physical scenarios with the mean AR visualization accuracy being 6.97 ± 1.57 mm.

其他

1.Yuanhua Robotics, Perception and AI Technologies Ltd, Shenzhen, China
2.School of Control Science and Engineering, Shandong University, Jinan, China
3.Department of Aeronautical and Aviation Engineering, The Hong Kong Polytechnic University, Hong Kong
4.Automotive Platforms and Application Systems (APAS) R and D Centre, China
5.Department of Electronic and Electrical Engineering of the Southern University of Science and Technology, Shenzhen, China
6.Department of Electronic Engineering, The Chinese University of Hong Kong, Hong Kong
7.Shenzhen Research Institute of the Chinese University of Hong Kong, Shenzhen, China

Ang Zhang,Zhe Min,Zhengyan Zhang,et al. A Novel Augmented Reality Assisted Orthopedic Surgical Robotic System With Bidirectional Surface Registration Algorithms[J]. IEEE Transactions on Medical Robotics and Bionics,2024,PP(99).

Ang Zhang,Zhe Min,Zhengyan Zhang,Yingying Wang,&Max Q.-H. Meng.(2024).A Novel Augmented Reality Assisted Orthopedic Surgical Robotic System With Bidirectional Surface Registration Algorithms.IEEE Transactions on Medical Robotics and Bionics,PP(99).

Ang Zhang,et al."A Novel Augmented Reality Assisted Orthopedic Surgical Robotic System With Bidirectional Surface Registration Algorithms".IEEE Transactions on Medical Robotics and Bionics PP.99(2024).