Intra-operative 3D imaging system for robot-assisted fracture manipulation

Giulio Dagnino, I. Georgilas, P. Tarassoli, R. Atkins, Sanja Dogramadzi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (SciVal)

Abstract

Reduction is a crucial step in the treatment of broken bones. Achieving precise anatomical alignment of bone fragments is essential for a good fast healing process. Percutaneous techniques are associated with faster recovery time and lower infection risk. However, deducing intra-operatively the desired reduction position is quite challenging due to the currently available technology. The 2D nature of this technology (i.e. the image intensifier) doesn't provide enough information to the surgeon regarding the fracture alignment and rotation, which is actually a three-dimensional problem. This paper describes the design and development of a 3D imaging system for the intra-operative virtual reduction of joint fractures. The proposed imaging system is able to receive and segment CT scan data of the fracture, to generate the 3D models of the bone fragments, and display them on a GUI. A commercial optical tracker was included into the system to track the actual pose of the bone fragments in the physical space, and generate the corresponding pose relations in the virtual environment of the imaging system. The surgeon virtually reduces the fracture in the 3D virtual environment, and a robotic manipulator connected to the fracture through an orthopedic pin executes the physical reductions accordingly. The system is here evaluated through fracture reduction experiments, demonstrating a reduction accuracy of 1.04 ± 0.69 mm (translational RMSE) and 0.89 ± 0.71 ° (rotational RMSE).

Original languageEnglish
Title of host publication2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015
PublisherIEEE
Pages9-12
Number of pages4
Volume2015-November
ISBN (Electronic)9781424492718
DOIs
Publication statusPublished - 5 Nov 2015
Externally publishedYes
Event37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015 - Milan, Italy
Duration: 25 Aug 201529 Aug 2015

Publication series

NameAnnual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)
PublisherIEEE
Volume37
ISSN (Print)1094-687X
ISSN (Electronic)1558-4615

Conference

Conference37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society, EMBC 2015
Country/TerritoryItaly
CityMilan
Period25/08/1529/08/15

ASJC Scopus subject areas

  • Signal Processing
  • Biomedical Engineering
  • Computer Vision and Pattern Recognition
  • Health Informatics

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