ArticleJournal of medical imaging (Bellingham, Wash.)2018
Robotic drill guide positioning using known-component 3D-2D image registration.
Article in Journal of medical imaging (Bellingham, Wash.), 2018. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 11 papers.
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Trials whose registry record cites this paper, or whose number appears in the abstract. A trial that started after this paper was published is citing it as background, not reporting it.
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Who cites it
11 citing papers in PubMed.
- Multi-Body 3D-2D Registration for Robot-Assisted Joint Reduction: Preclinical Evaluation in the Ankle Syndesmosis.Proceedings of SPIE--the International Society for Optical Engineering · 2023Article
- Development of a fluoroscopically guided robotic assistant for instrument placement in pelvic trauma surgery.Journal of medical imaging (Bellingham, Wash.) · 2021Article
- Fluoroscopic Guidance of a Surgical Robot: Pre-clinical Evaluation in Pelvic Guidewire Placement.Proceedings of SPIE--the International Society for Optical Engineering · 2021Article
- Development and Pre-Clinical Analysis of Spatiotemporal-Aware Augmented Reality in Orthopedic Interventions.IEEE transactions on medical imaging · 2021Article
- The Impact of Machine Learning on 2D/3D Registration for Image-Guided Interventions: A Systematic Review and Perspective.Frontiers in robotics and AI · 2021Article
- Fiducial-Free 2D/3D Registration for Robot-Assisted Femoroplasty.IEEE transactions on medical robotics and bionics · 2020Article
- A mobile isocentric C-arm for intraoperative cone-beam CT: Technical assessment of dose and 3D imaging performance.Medical physics · 2020Article
- Pose Estimation of Periacetabular Osteotomy Fragments With Intraoperative X-Ray Navigation.IEEE transactions on bio-medical engineering · 2020Article
- Image-Guided Robotic K-Wire Placement for Orthopaedic Trauma Surgery.Proceedings of SPIE--the International Society for Optical Engineering · 2020Article
- The Importance of the Pars Interarticularis as a Landmark for Safe Lumbar Pedicle Screw Placement: Technical Note.Cureus · 2019Article
- Technical Note: Known-Component Registration for Robotic Drill Guide Positioning.Proceedings of SPIE--the International Society for Optical Engineering · 2018Article
Corrections and comments
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Authors and funding
4 authors.
Funding
Abstract
A method for x-ray image-guided robotic instrument positioning is reported and evaluated in preclinical studies of spinal pedicle screw placement with the aim of improving delivery of transpedicle K-wires and screws. The known-component (KC) registration algorithm was used to register the three-dimensional patient CT and drill guide surface model to intraoperative two-dimensional radiographs. Resulting transformations, combined with offline hand-eye calibration, drive the robotically held drill guide to target trajectories defined in the preoperative CT. The method was assessed in comparison with a more conventional tracker-based approach, and robustness to clinically realistic errors was tested in phantom and cadaver. Deviations from planned trajectories were analyzed in terms of target registration error (TRE) at the tooltip (mm) and approach angle (deg). In phantom studies, the KC approach resulted in [Formula: see text] and [Formula: see text], comparable with accuracy in tracker-based approach. In cadaver studies with realistic anatomical deformation, the KC approach yielded [Formula: see text] and [Formula: see text], with statistically significant improvement versus tracker ([Formula: see text] and [Formula: see text]). Robustness to deformation is attributed to relatively local rigidity of anatomy in radiographic views. X-ray guidance offered accurate robotic positioning and could fit naturally within clinical workflow of fluoroscopically guided procedures.
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Registered trials
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