@inproceedings{72a852b927e24ff791d4d01cae7ad409,
title = "Fiducial-free 2D/3D registration of the proximal femur for robot-assisted femoroplasty",
abstract = "Femroplasty is a proposed therapeutic method for preventing osteoporotic hip fractures in elderly. Patientspecific femoroplasty based on a preoperative plan, however, requires accurate 3D pose estimation of the proximal femur. Prior work on the development of a navigation system required the attachment of an optical fiducial to the osteoporotic femur. In this paper, we propose a fiducial-free 2D/3D registration pipeline, which uses the pelvis to initialize the femur registration. Intraoperative X-ray images are taken from multiple views to perform compound object registration. The proposed method was tested through a comprehensive simulation study. Performance was evaluated on the femoral head center frame registration error and the injection entry point error on the trochanter surface. The algorithm achieved a mean accuracy of 2.75 ± 2.19 mm for the entry point ℓ2 distance and 0.81 ± 0.58° for the planning path direction, which is sufficiently accurate for robotic drill positioning.",
keywords = "2D/3D Registration, Femoroplasty, Femur Registration, X-ray Navigation",
author = "Cong Gao and Grupp, {Robert B.} and Mathias Unberath and Taylor, {Russell H.} and Mehran Armand",
note = "Funding Information: This research has been finacially supported by NIH R01EB023939, NIH R21EB020113, and Johns Hopkins University Applied Physics Laboratory internal funds. 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 = "10.1117/12.2550992",
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",
}