Imperial College London
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ProfessorFerdinandoRodriguez y Baena

Faculty of Engineering, Department of Mechanical Engineering

Co-Director of Hamlyn Centre, Professor of Medical Robotics
 
 
 
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Contact

 

+44 (0)20 7594 7046f.rodriguez Website

 
 
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Location

 

B415CBessemer BuildingSouth Kensington Campus

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Summary

 

Publications

Citation

BibTex format

@article{Liu:2020:10.1109/ACCESS.2020.2977072,
author = {Liu, H and Rodriguez, y Baena F},
doi = {10.1109/ACCESS.2020.2977072},
journal = {IEEE Access},
pages = {42010--42020},
title = {Automatic markerless registration and tracking of the bone for computer-assisted orthopaedic surgery},
url = {http://dx.doi.org/10.1109/ACCESS.2020.2977072},
volume = {8},
year = {2020}
}
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RIS format (EndNote, RefMan)

TY  - JOUR
AB  - To achieve a simple and less invasive registration procedure in computer-assisted orthopaedic surgery, we propose an automatic, markerless registration and tracking method based on depth imaging and deep learning. A depth camera is used to continuously capture RGB and depth images of the exposed bone during surgery, and deep neural networks are trained to first localise the surgical target using the RGB image, then segment the target area of the corresponding depth image, from which the surface geometry of the target bone can be extracted. The extracted surface is then compared to a pre-operative model of the same bone for registration. This process can be performed dynamically during the procedure at a rate of 5-6 Hz, without any need for surgeon intervention or invasive optical markers. Ex vivo registration experiments were performed on a cadaveric knee, and accuracy measurements against an optically tracked ground truth resulted in a mean translational error of 2.74 mm and a mean rotational error of 6.66°. Our results are the first to describe a promising new way to achieve automatic markerless registration and tracking in computer-assisted orthopaedic surgery, demonstrating that truly seamless registration and tracking of the limb is within reach. Our method reduces invasiveness by removing the need for percutaneous markers. The surgeon is also exempted from inserting markers and collecting registration points manually, which contributes to a more efficient surgical workflow and shorter procedure time in the operating room.
AU  - Liu,H
AU  - Rodriguez,y Baena F
DO  - 10.1109/ACCESS.2020.2977072
EP  - 42020
PY  - 2020///
SN  - 2169-3536
SP  - 42010
TI  - Automatic markerless registration and tracking of the bone for computer-assisted orthopaedic surgery
T2  - IEEE Access
UR  - http://dx.doi.org/10.1109/ACCESS.2020.2977072
UR  - https://ieeexplore.ieee.org/document/9018195
UR  - http://hdl.handle.net/10044/1/77960
VL  - 8
ER  -
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