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Carnegie Mellon Robotics Institute

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Abstract

The goal of intra-surgical registration is to establish a common reference frame between pre-surgical and intra-surgical 3-D data sets that correspond to the same anatomy. This paper presents two novel techniques which have application to this problem: high-speed pose tracking, and intra-surgical data selection. In the first part of this paper, we describe an approach for tracking the pose of arbitrarily-shaped rigid objects at rates up to 10Hz. Static accuracies on the order of 1mm in translation and 1 degree in rotation have been achieved. We have demonstrated the technique on a human face using a high-speed VLSI range sensor; however, the technique is independent of the sensor used or the anatomy tracked. In the second part of this paper, we describe a general purpose approach for selecting near-optimal, intra-surgical registration data. Due to high costs associated with the acquisition of intra-surgical data, it is desirable to minimize the amount of data acquired, while ensuring that registration accuracy requirements are met. We synthesize near-optimal intra-surgical data sets, based upon an analysis of differential surface properties of pre-surgical data. We demonstrate, using data from a human femur, that discrete point data sets selected using our method provide superior pose refinement accuracy to those selected by human experts.

Notes

Associated Center(s) / Consortia: Medical Robotics Technology Center

Associated Lab(s) / Group(s): Medical Robotics and Computer Assisted Surgery

Text Reference

David Simon, Martial Hebert, and Takeo Kanade, "Techniques For Fast And Accurate Intrasurgical Registration," Journal of Image Guided Surgery, Vol. 1, No. 1, 1995, pp. 17-29.

BibTeX Reference

@article{Simon_1995_1179,
   author = "David Simon and Martial Hebert and Takeo Kanade",
   title = "Techniques For Fast And Accurate Intrasurgical Registration",
   journal = "Journal of Image Guided Surgery",
   pages = "17-29",
   year = "1995",
   volume = "1",
   number = "1",
}

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