Calibration and registration of a freehand video-guided surgical drill for orthopaedic trauma

P. Vagdargi; A. Uneri; N. Sheth; A. Sisniega; T. De Silva; G. M. Osgood; J. H. Siewerdsen

doi:10.1117/12.2550001

16 March 2020 Calibration and registration of a freehand video-guided surgical drill for orthopaedic trauma

P. Vagdargi, A. Uneri, N. Sheth, A. Sisniega, T. De Silva, G. M. Osgood, J. H. Siewerdsen

Proceedings Volume 11315, Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling; 113150G (2020) https://doi.org/10.1117/12.2550001
Event: SPIE Medical Imaging, 2020, Houston, Texas, United States

Abstract

Pelvic trauma surgical procedures rely heavily on guidance with 2D fluoroscopy views for navigation in complex bone corridors. This “fluoro-hunting” paradigm results in extended radiation exposure and possible suboptimal guidewire placement from limited visualization of the fractures site with overlapped anatomy in 2D fluoroscopy. A novel computer visionbased navigation system for freehand guidewire insertion is proposed. The navigation framework is compatible with the rapid workflow in trauma surgery and bridges the gap between intraoperative fluoroscopy and preoperative CT images. The system uses a drill-mounted camera to detect and track poses of simple multimodality (optical/radiographic) markers for registration of the drill axis to fluoroscopy and, in turn, to CT. Surgical navigation is achieved with real-time display of the drill axis position on fluoroscopy views and, optionally, in 3D on the preoperative CT. The camera was corrected for lens distortion effects and calibrated for 3D pose estimation. Custom marker jigs were constructed to calibrate the drill axis and tooltip with respect to the camera frame. A testing platform for evaluation of the navigation system was developed, including a robotic arm for precise, repeatable, placement of the drill. Experiments were conducted for hand-eye calibration between the drill-mounted camera and the robot using the Park and Martin solver. Experiments using checkerboard calibration demonstrated subpixel accuracy [−0.01 ± 0.23 px] for camera distortion correction. The drill axis was calibrated using a cylindrical model and demonstrated sub-mm accuracy [0.14 ± 0.70 mm] and sub-degree angular deviation.

Conference Presentation

Citation Download Citation

P. Vagdargi, A. Uneri, N. Sheth, A. Sisniega, T. De Silva, G. M. Osgood, and J. H. Siewerdsen "Calibration and registration of a freehand video-guided surgical drill for orthopaedic trauma", Proc. SPIE 11315, Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling, 113150G (16 March 2020); https://doi.org/10.1117/12.2550001

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