@inproceedings{233a255644fa412491dac36afc0e418a,
title = "Calibration and registration of a freehand video-guided surgical drill for orthopaedic trauma",
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.",
keywords = "Augmented reality, Computer vision, Image-guided surgery, Intraoperative imaging, Orthopaedic trauma",
author = "P. Vagdargi and Ali Uneri and N. Sheth and {Sisniega Crespo}, Alejandro and {De Silva}, T. and Osgood, {G. M.} and Siewerdsen, {J. H.}",
note = "Funding Information: This work is supported by NIH R21-EB-028330. The authors thank Drs. P. Stolka, P. Foroughi, D. Heisenberg and E. Basafa from Clear Guide Medical (Baltimore, MD) for constructive conversations and collaboration. Publisher Copyright: {\textcopyright} 2020 SPIE.; Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling ; Conference date: 16-02-2020 Through 19-02-2020",
year = "2020",
doi = "10.1117/12.2550001",
language = "English (US)",
series = "Proceedings of SPIE - The International Society for Optical Engineering",
publisher = "SPIE",
editor = "Baowei Fei and Linte, {Cristian A.}",
booktitle = "Medical Imaging 2020",
}