Minimally invasive 3D data registration in computer and robot assisted total knee arthroplasty

Medical & Biological Engineering & Computing
P F La PalombaraM Marcacci

Abstract

Computer and robot assisted surgery is concerned with the improvements achievable by using computer methods and robotic devices to plan and execute surgical interventions. The registration of different coordinate frames, often achieved through the matching of 3D data sets, represents a crucial step connecting planning and execution. Orthopaedic surgery already features a number of functioning applications which include registration routines relying on presurgically implanted fiducial markers. Replacing such invasive routine with non-fiducial registration procedures is regarded as a necessary step towards a minimisation of surgical invasiveness. A minimally invasive registration technique based on the iterative closest point algorithm is presented and conceived for a specific computer and robot assisted orthopaedic reconstructive intervention, namely total knee arthroplasty. The whole surgical protocol is examined in detail and the experimental results, relative to tests performed on synthetic and animal specimens, are thoroughly reported and discussed. The authors indicate that the proposed registration approach is well-suited for the relevant application and appropriate for in vivo testing.

References

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Citations

Jan 4, 2001·Computer Methods and Programs in Biomedicine·M Viceconti De Lollis A
Nov 10, 2001·Annual Review of Biomedical Engineering·R D Howe, Y Matsuoka
Jun 6, 2013·Advances in Orthopedics·Nathan A NetravaliWilliam L Bargar
Sep 2, 2009·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·Kunihiro OkaHideki Yoshikawa
Aug 21, 2013·Proceedings of the Institution of Mechanical Engineers. Part H, Journal of Engineering in Medicine·Ferdinando Rodriguez y BaenaMatjaz Jakopec
Aug 5, 2008·The Journal of Bone and Joint Surgery. American Volume·Mark EasleyJohn Reach
Apr 16, 2002·Computer Aided Surgery : Official Journal of the International Society for Computer Aided Surgery·M JakopecB L Davies
Apr 16, 2002·Clinical Orthopaedics and Related Research·Kathleen DenisJoris De Schutter
Nov 3, 2020·Indian Journal of Orthopaedics·Vaibhav BagariaMurali Poduval

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