• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文会议>Conference on Medical Imaging: Image-Guided Procedures, Robotic Interventions, and Modeling >Image-Guided Robotic K-Wire Placement for Orthopaedic Trauma Surgery
【24h】

Image-Guided Robotic K-Wire Placement for Orthopaedic Trauma Surgery

机译：骨科创伤手术的图像引导机器人K线放置

获取原文
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

Purpose. We report the initial development of an image-based solution for robotic assistance of pelvic fracture fixation. The approach uses intraoperative radiographs, preoperative CT. and an end effector of known design to align the robot with target trajectories in CT. The method extends previous work to solve the robot-to-patient registration from a single radiographic view (without C-arm rotation) and addresses the workflow challenges associated with integrating robotic assistance in orthopaedic trauma surgery in a form that could be broadly applicable to isocentric or non-isocentric C-arms. Methods. The proposed method uses 3D-2D known-component registration to localize a robot end effector with respect to the patient by: (1) exploiting the extended size and complex features of pelvic anatomy to register the patient; and (2) capturing multiple end effector poses using precise robotic manipulation. These transformations, along with an offline hand-eye calibration of the end effector, are used to calculate target robot poses that align the end effector with planned trajectories in the patient CT. Geometric accuracy of the registrations was independently evaluated for the patient and the robot in phantom studies. Results. The resulting translational difference between the ground truth and patient registrations of a pelvis phantom using a single (AP) view was 1.3 mm, compared to 0.4 mm using dual (AP+Lat) views. Registration of the robot in air (i.e., no background anatomy) with five unique end effector poses achieved mean translational difference ~1.4 mm for K-wire placement in the pelvis, comparable to tracker-based margins of error (commonly ~2 mm). Conclusions. The proposed approach is feasible based on the accuracy of the patient and robot registrations and is a preliminary step in developing an image-guided robotic guidance system that more naturally fits the workflow of fluoroscopically guided orthopaedic trauma surgery. Future work will involve end-to-end development of the proposed guidance system and assessment of the system with delivery of K-wires in cadaver studies.
机译：目的。我们报告了基于图像的骨盆骨折固定机器人辅助解决方案的初步开发。该方法使用术中X光片，术前CT。以及已知设计的末端执行器，以使机器人与CT中的目标轨迹对齐。该方法扩展了以前的工作，以从单个X射线照片视图（无C臂旋转）解决机器人到患者的注册问题，并解决了与将机器人辅助设备集成到整形外科创伤手术中相关的工作流程挑战，其形式可能广泛适用于等中心点或非等心C形臂。方法。所提出的方法使用3D-2D已知组件配准来通过以下方式相对于患者定位机器人末端执行器：（1）利用骨盆解剖结构的扩展尺寸和复杂特征来对患者进行配准; （2）使用精确的机器人操作来捕获多个末端执行器姿势。这些转换以及末端执行器的离线手眼校准用于计算目标机器人姿势，以将末端执行器与患者CT中的计划轨迹对齐。在幻像研究中，对患者和机器人的配准的几何精度进行了独立评估。结果。使用单次（AP）视图时，地面真实情况与骨盆体模患者注册之间的平移差异为1.3毫米，而使用双倍（AP + Lat）视图则为0.4毫米。以五个独特的末端执行器姿势在空气中注册机器人（即无背景解剖），将K线放置在骨盆中的平均平移差异约为1.4毫米，相当于基于跟踪器的误差范围（通常约为2毫米）。结论所提出的方法基于患者和机器人注册的准确性是可行的，并且是开发图像引导的机器人引导系统的第一步，该系统更自然地适合于荧光镜引导的骨科创伤手术的工作流程。未来的工作将涉及端到端开发拟议的指导系统，并在尸体研究中通过提供K线对系统进行评估。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号