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1、IEEETRANSACTIONSONMEDICALIMAGING,VOL.17,NO.5,OCTOBER1998715Anatomy-BasedRegistrationofCT-ScanandIntraoperativeX-RayImagesforGuidingaSurgicalRobotA.Gueziec,*P.Kazanzides,´Member,IEEE,B.Williamson,andR.H.TaylorAbstractÐWedescribenewmethodsforrigidregistrationfluoros
2、copyandimageintensification.Ourworkispartofaofapreoperativecomputedtomography(CT)-scanimagetojointstudywithIntegratedSurgicalSystem(ISS),ofDavis,asetofintraoperativeX-rayfluoroscopicimages,forguidingCA,toextendtheROBODOCâsystemfromprimarytotalhipasurgicalrobottoits
3、trajectoryplannedfromCT.Ourgoalreplacement(PTHR)surgerytorevisiontotalhipreplacementistoperformtheregistration,i.e.,computearotationandtranslationofonedatasetwithrespecttotheothertowithin(RTHR)surgery.RTHRisperformedafterapatienthadPTHRaprescribedaccuracy,basedup
4、onbonyanatomyonly,withoutandtheimplantfailedforsomereason;RTHRisamuchexternalfiducialmarkers.moredifficultoperation,becauselessbonetissueremains,andWithrespecttopreviousapproaches,thefollowingaspectsbecauseleftoverbonecementmustbedetectedandremovedarenew:1)wecorrec
5、tthegeometricdistortioninfluoroscopic[46].imagesandcalibratethemdirectlywithrespecttotherobotbyaffixingtoitanewcalibrationdevicedesignedasaradiolucentForPTHRandRTHR,thesurgicalrobotoftheRO-rodwithembeddedmetallicmarkers,andbymovingthedeviceBODOCâsystemaccuratelymil
6、lsthecavityforthefemoralalongtwoplanes,whileradiographsarebeingacquiredatregularimplant.Therobottrajectoryisplannedpreoperativelyusingintervals;2)theregistrationusesanalgorithmforcomputingthetheORTHODOCâsoftware,baseduponaCT-scanofthehipbesttransformationbetweena
7、setoflinesinthreespace,theandacomputer-aideddesign(CAD)modelofanappropriate(intraoperative)X-raypaths,andasetofpointsonthesurfaceofthebone(imagedpreoperatively),inastatisticallyrobustfemoralimplant.Toregisterthesurgicalrobottoitsplannedfashion,usingtheCayleyparam
8、eterizationofarotation;andtrajectory,thecurrentclinicalprotocolusestwoorthree3)tofindcorrespondingsetsofpointstotheX-raypathsonmetallicmarkerssurgicallyinserted
