scholarly journals Towards Markerless 3D Pose Estimation for Computer Assisted Orthopaedic Surgery: a Comparison Study of Depth Cameras

10.29007/zfg2 ◽  
2020 ◽  
Author(s):  
Jérôme Ogor ◽  
Guillaume Dardenne ◽  
Salaheddine Sta ◽  
Julien Bert ◽  
Hoel Letissier ◽  
...  
Keyword(s):  
Surgical Navigation ◽  
Real Data ◽  
Surgical Instruments ◽  
Computer Assisted ◽  
Clinical Environment ◽  
3D Pose Estimation ◽  
Point Pair ◽  
Depth Cameras ◽  
Computer Assisted Orthopaedic Surgery ◽  
Novel Method

This abstract addresses the problem of localizing surgical instruments during orthopaedic surgeries. Compared to usual approaches based on surgical navigation with markers, we propose here a novel method that estimates the 6-DoF pose of surgical instruments without specific markers using a depth camera. The goal of this paper is to compare, on real data, the registration precision of an algorithm called Point Pair Features (PPF) according to consumer depth cameras available on the market. Experimental validation using sawbones has been conducted and 8 cameras have been tested in realistic clinical environment. The Kinect Azure reports the best precision with a registration error of 1.13mm ± 1.00mm.

scholarly journals A Novel Computer-Assisted Workflow for Treatment of Osteochondral Lesions in the Knee

10.29007/m4z1 ◽  
2020 ◽  
Author(s):  
Fabio Tatti ◽  
Hisham Iqbal ◽  
Branislav Jaramaz ◽  
Ferdinando Rodriguez Y Baena
Keyword(s):  
Surgical Planning ◽  
Surgical Instruments ◽  
Osteochondral Lesions ◽  
Computer Assisted ◽  
Osteochondral Defects ◽  
Surgical Workflow ◽  
Computer Assisted Orthopaedic Surgery ◽  
Accuracy And Repeatability ◽  
Cause Of Pain ◽  
Surgical System

Computer-Assisted Orthopaedic Surgery (CAOS) is now becoming more prevalent, especially in knee arthroplasty. CAOS systems have the potential to improve the accuracy and repeatability of surgical procedures by means of digital preoperative planning and intraoperative tracking of the patient and surgical instruments.One area where the accuracy and repeatability of computer-assisted interventions could prove especially beneficial is the treatment of osteochondral defects (OCD). OCDs represent a common problem in the patient population, and are often a cause of pain and discomfort. The use of synthetic implants is a valid option for patients who cannot be treated with regenerative methods, but the outcome can be negatively impacted by incorrect positioning of the implant and lack of congruency with the surrounding anatomy.In this paper, we present a novel computer-assisted surgical workflow for the treatment of osteochondral defects. The software we developed automatically selects the implant that most closely matches the patient’s anatomy and computes the best pose. By combining this software with the existing capabilities of the Navio™ surgical system (Smith & Nephew inc.), we were able to create a complete workflow that incorporates both surgical planning and assisted bone preparation.Our preliminary testing on plastic bone models was successful and demonstrated that the workflow can be used to select and position an appropriate implant for a given defect.

scholarly journals 3D Pose Estimation with Depth Camera for Markerless Cumputer Assisted Orthopaedic Surgery

10.29007/9nc5 ◽  
2019 ◽  
Author(s):  
Jérôme Ogor ◽  
Guillaume Dardenne ◽  
Salaheddine Sta ◽  
Julien Bert ◽  
Hoël Letissier ◽  
...  
Keyword(s):  
Success Rate ◽  
Surgical Navigation ◽  
Average Distance ◽  
Synthetic Data ◽  
Surgical Instruments ◽  
Depth Camera ◽  
Navigation Systems ◽  
Clinical Environment ◽  
Additional Time ◽  
Surgical Navigation Systems

Surgical navigation systems have been used in orthopaedics for many years. These solutions however often mean additional time and complexity because, essentially, of the markers. We want to introduce a new solution based on depth camera which could be used intraoperatively to estimate the 3D pose of surgical instruments without specific markers. The goal of this paper is to assess, on synthetic data, an algorithm called Clustered Viewpoint Feature Histogram (CVFH) to estimate the pose of an orthopaedic cut guide used during knee surgeries. A specific simulator has been developed for this study which allows the simulation of a point cloud associated to the cut guide. The Average Distance Distinguishable (ADD) metric has been measured 1000 times according to several cut guide orientations and several noise levels. The success rate has also been analyzed. It is commonly considered that the pose is correctly estimated if ADD is less than 10% of the largest dimension of the object. The ADD metric and the success rate vary from 2.12 ± 4.46 mm to 2.82 ± 5.73mm and from 96.0% to 92.4% for respectively a low (0 mm) and a high noise (10mm). The results are very promising. However, more parameters have to be assessed. Similarly, the accuracy and reliability of such method have to be evaluated in a real clinical environment.

Design of smart tools to support pre- and intra-operative use of surgical navigation systems

2018 ◽  
Vol 85 (5) ◽  
pp. 351-358
Author(s):  
Oliver Gieseler ◽  
Julio C. Alvarez-Gomez ◽  
Hubert Roth ◽  
Jürgen Wahrburg
Keyword(s):  
Surgical Navigation ◽  
Surgical Instruments ◽  
Computer Assisted ◽  
Navigation Systems ◽  
Short Introduction ◽  
Surgical Interventions ◽  
Optical Surgical Navigation ◽  
Stereo Cameras ◽  
Small Display ◽  
Surgical Navigation Systems

Abstract In this paper we present novel solutions to support the application of computer assisted surgical interventions in which optical surgical navigation systems based on stereo cameras are used. The objective is to improve both the pre-operative setup and the intra-operative use of the navigation system. Following a short introduction describing the potential for improvements of existing navigation systems new approaches and the components to implement them are described. The pre-operative alignment of the stereo camera is made easier by attaching a small graphic display to its tripod which can show how much of the operating area is covered by the measurement volume of the camera. The intra-operative application is improved by a mechanism for motorized camera motions in order to follow the position of surgical instruments. Furthermore a small display can be attached to a surgical instrument which clearly indicates to the surgeon how to guide the instrument in order to stay on the planned trajectory.

Image-Guided Spinal Surgery and Robotics in MIS: Where Are We Now?

2018 ◽  
Vol 1 (2) ◽  
pp. 2
Author(s):  
Chiung Chyi Shen
Keyword(s):  
Pedicle Screw ◽  
Spinal Surgery ◽  
Surgical Navigation ◽  
Improve Patient Safety ◽  
Intraoperative Imaging ◽  
Spinal Instrumentation ◽  
Pedicle Screws ◽  
Computer Assisted ◽  
Navigation Systems ◽  
Image Guided

Use of pedicle screws is widespread in spinal surgery for degenerative, traumatic, and oncological diseases. The conventional technique is based on the recognition of anatomic landmarks, preparation and palpation of cortices of the pedicle under control of an intraoperative C-arm (iC-arm) fluoroscopy. With these conventional methods, the median pedicle screw accuracy ranges from 86.7% to 93.8%, even if perforation rates range from 21.1% to 39.8%.The development of novel intraoperative navigational techniques, commonly referred to as image-guided surgery (IGS), provide simultaneous and multiplanar views of spinal anatomy. IGS technology can increase the accuracy of spinal instrumentation procedures and improve patient safety. These systems, such as fluoroscopy-based image guidance ("virtual fluoroscopy") and computed tomography (CT)-based computer-guidance systems, have sensibly minimized risk of pedicle screw misplacement, with overall perforation rates ranging from between 14.3% and 9.3%, respectively."Virtual fluoroscopy" allows simultaneous two-dimensional (2D) guidance in multiple planes, but does not provide any axial images; quality of images is directly dependent on the resolution of the acquired fluoroscopic projections. Furthermore, computer-assisted surgical navigation systems decrease the reliance on intraoperative imaging, thus reducing the use of intraprocedure ionizing radiation. The major limitation of this technique is related to the variation of the position of the patient from the preoperative CT scan, usually obtained before surgery in a supine position, and the operative position (prone). The next technological evolution is the use of an intraoperative CT (iCT) scan, which would allow us to solve the position-dependent changes, granting a higher accuracy in the navigation system. 

scholarly journals Calibration of Camera and Flash LiDAR System with a Triangular Pyramid Target

2021 ◽  
Vol 11 (2) ◽  
pp. 582
Author(s):  
Zean Bu ◽  
Changku Sun ◽  
Peng Wang ◽  
Hang Dong
Keyword(s):  
Simulated Data ◽  
Real Data ◽  
Calibration Method ◽  
Multiple Sensors ◽  
Triangular Pyramid ◽  
World Coordinate System ◽  
Flash Lidar ◽  
Novel Method ◽  
3D Information ◽  
Incremental Validation

Calibration between multiple sensors is a fundamental procedure for data fusion. To address the problems of large errors and tedious operation, we present a novel method to conduct the calibration between light detection and ranging (LiDAR) and camera. We invent a calibration target, which is an arbitrary triangular pyramid with three chessboard patterns on its three planes. The target contains both 3D information and 2D information, which can be utilized to obtain intrinsic parameters of the camera and extrinsic parameters of the system. In the proposed method, the world coordinate system is established through the triangular pyramid. We extract the equations of triangular pyramid planes to find the relative transformation between two sensors. One capture of camera and LiDAR is sufficient for calibration, and errors are reduced by minimizing the distance between points and planes. Furthermore, the accuracy can be increased by more captures. We carried out experiments on simulated data with varying degrees of noise and numbers of frames. Finally, the calibration results were verified by real data through incremental validation and analyzing the root mean square error (RMSE), demonstrating that our calibration method is robust and provides state-of-the-art performance.

PUTRACER: A NOVEL METHOD FOR IDENTIFICATION OF CONTINUOUS-DOMAINS IN MULTI-DOMAIN PROTEINS

2013 ◽  
Vol 11 (01) ◽  
pp. 1340012 ◽  
Author(s):  
SEYED SHAHRIAR ARAB ◽  
MOHAMMADBAGHER PARSA GHARAMALEKI ◽  
ZAIDDODINE PASHANDI ◽  
REZVAN MOBASSERI
Keyword(s):  
Protein Structures ◽  
Three Dimensional ◽  
Accessible Surface Area ◽  
Computer Assisted ◽  
Correct Assignment ◽  
Critical Boundary ◽  
Novel Method ◽  
Accessible Surface ◽  
A Chain

Computer assisted assignment of protein domains is considered as an important issue in structural bioinformatics. The exponential increase in the number of known three dimensional protein structures and the significant role of proteins in biology, medicine and pharmacology illustrate the necessity of a reliable method to automatically detect structural domains as protein units. For this aim, we have developed a program based on the accessible surface area (ASA) and the hydrogen bonds energy in protein backbone (HBE). PUTracer (Protein Unit Tracer) is built on the features of a fast top-down approach to cut a chain into its domains (contiguous domains) with minimal change in ASA as well as HBE. Performance of the program was assessed by a comprehensive benchmark dataset of 124 protein chains, which is based on agreement among experts (e.g. CATH, SCOP) and was expanded to include structures with different types of domain combinations. Equal number of domains and at least 90% agreement in critical boundary accuracy were considered as correct assignment conditions. PUTracer assigned domains correctly in 81.45% of protein chains. Although low critical boundary accuracy in 18.55% of protein chains leads to the incorrect assignments, adjusting the scales causes to improve the performance up to 89.5%. We discuss here the success or failure of adjusting the scales with provided evidences. Availability: PUTracer is available at http://bioinf.modares.ac.ir/software/PUTracer/

scholarly journals Preliminary study of a novel method for conveying corrected image volumes in surgical navigation

2012 ◽  
Vol 9 (1) ◽  
pp. 109-118 ◽  
Author(s):  
Amber L. Simpson ◽  
Prashanth Dumpuri ◽  
Janet E. Ondrake ◽  
Jared A. Weis ◽  
William R. Jarnagin ◽  
...  
Keyword(s):  
Surgical Navigation ◽  
Corrected Image ◽  
Novel Method ◽  
Preliminary Study

scholarly journals Surgical navigation with QR codes

2016 ◽  
Vol 2 (1) ◽  
pp. 355-358
Author(s):  
Manuel Katanacho ◽  
Wladimir De la Cadena ◽  
Sebastian Engel
Keyword(s):  
Surgical Navigation ◽  
Video Camera ◽  
Surgical Instruments ◽  
Qr Code ◽  
Qr Codes ◽  
Measurement Systems

AbstractThe presented work is an alternative to established measurement systems in surgical navigation. The system is based on camera based tracking of QR code markers. The application uses a single video camera, integrated in a surgical lamp, that captures the QR markers attached to surgical instruments and to the patient.

scholarly journals Computer assisted orthopaedic surgery − current state and impact

SICOT-J ◽  
2018 ◽  
Vol 4 ◽  
pp. E2
Author(s):  
Ajeya Adhikari
Keyword(s):  
Orthopaedic Surgery ◽  
Computer Assisted ◽  
Current State ◽  
Computer Assisted Orthopaedic Surgery

scholarly journals Periacetabular Osteotomy Performed with Imageless Computer-Assisted Navigation: Case Report

2019 ◽  
Vol 2 (1-3) ◽  
pp. 33-39
Author(s):  
Atul F. Kamath ◽  
Rachel R. Mays
Keyword(s):  
Surgical Navigation ◽  
Periacetabular Osteotomy ◽  
Computer Navigation ◽  
Developmental Dysplasia ◽  
Computer Assisted ◽  
Developmental Hip Dysplasia ◽  
Assisted Navigation ◽  
First Case ◽  
Acetabular Fragment ◽  
Pao Surgery

Periacetabular osteotomy (PAO) is an effective surgical treatment for developmental hip dysplasia. The goal of PAO is to reorient the acetabulum to increase acetabular coverage of the femoral head, as well as to reduce contact pressures within the hip joint. The primary challenge of PAO is to accurately achieve the desired acetabular fragment orientation, while maximizing containment and congruency. As key parts of the procedure are performed out of direct field of view of the surgeon, combined with this challenge of precise spatial orientation, there is a potential role for technologies such as surgical navigation. Adjunctive technology may provide information on the orientation of repositioned acetabulum and may offer a useful assist in performing PAO. Here, we present a case of developmental dysplasia of the hip treated via PAO with the addition of an imageless computer navigation device. Surgery was successful, and, at 3 months after procedure, the patient was progressing well. To our best knowledge, this is the first case using imageless computer-assisted navigation in PAO surgery.

Sign in / Sign up

Export Citation Format

Share Document