ArticleIEEE transactions on bio-medical engineering2022
Fluoroscopic Navigation for a Surgical Robotic System Including a Continuum Manipulator.
Article in IEEE transactions on bio-medical engineering, 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 12 papers.
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Who cites it
12 citing papers in PubMed, 29 citations in OpenAlex.
- Design and control of a continuum robot with switchable stiffness based on ball-and-socket joints.Scientific reports · 2025Article
- Surgical tooltip localization via concentric nested square markers and depth-RGB multi-coordinate fusion.International journal of computer assisted radiology and surgery · 2025Article
- [Advances in application of digital technologies in surgery for ankylosing spondylitis].Zhongguo xiu fu chong jian wai ke za zhi = Zhongguo xiufu chongjian waike zazhi = Chinese journal of reparative and reconstructive surgery · 2025Review
- Shape Sensing of Continuum Manipulators with Fiber Bragg Grating Sensor Arrays: Accounting for Actuator Velocity Effects.IEEE sensors journal · 2025Article
- Feasibility and accuracy evaluation of novel 2D instant navigation system on spinal surgery - a preclinical study.BMC musculoskeletal disorders · 2025Article
- Enhancing Single-Plane Fluoroscopy: A Self-Calibrating Bundle Adjustment for Distortion Modeling.Diagnostics (Basel, Switzerland) · 2024Article
- Distributed visual positioning for surgical instrument tracking.Physical and engineering sciences in medicine · 2024Article
- A Fully Differentiable Framework for 2D/3D Registration and the Projective Spatial Transformers.IEEE transactions on medical imaging · 2024Article
- Platform for investigating continuum manipulator behavior in orthopedics.International journal of computer assisted radiology and surgery · 2023Article
- Synthetic data accelerates the development of generalizable learning-based algorithms for X-ray image analysis.Nature machine intelligence · 2023Article
- Data-driven Shape Sensing of Continuum Dexterous Manipulators Using Embedded Capacitive Sensor.Proceedings of IEEE Sensors. IEEE International Conference on Sensors · 2023Article
- Fluoroscopy-Guided Robotic System for Transforaminal Lumbar Epidural Injections.IEEE transactions on medical robotics and bionics · 2022Article
Corrections and comments
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Authors and funding
7 authors at 1 institution in 1 country.
Funding
Abstract
We present an image-based navigation solution for a surgical robotic system with a Continuum Manipulator (CM). Our navigation system uses only fluoroscopic images from a mobile C-arm to estimate the CM shape and pose with respect to the bone anatomy. The CM pose and shape estimation is achieved using image intensity-based 2D/3D registration. A learning-based framework is used to automatically detect the CM in X-ray images, identifying landmark features that are used to initialize and regularize image registration. We also propose a modified hand-eye calibration method that numerically optimizes the hand-eye matrix during image registration. The proposed navigation system for CM positioning was tested in simulation and cadaveric studies. In simulation, the proposed registration achieved a mean error of 1.10±0.72 mm between the CM tip and a target entry point on the femur. In cadaveric experiments, the mean CM tip position error was 2.86±0.80 mm after registration and repositioning of the CM. The results suggest that our proposed fluoroscopic navigation is feasible to guide the CM in orthopedic applications.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.