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An automatic markerless registration method for neurosurgical robotics based on an optical camera.

Fanle Meng1, Fangwen Zhai1, Bowei Zeng1

  • 1Department of Biomedical Engineering, School of Medicine, Tsinghua University, Room C249, Beijing, 100084, People's Republic of China.

International Journal of Computer Assisted Radiology and Surgery
|November 5, 2017
PubMed
Summary

This study introduces an automatic, markerless registration method for neurosurgical robotics, eliminating patient position constraints. The new approach ensures accurate spatial relationships for improved robotic surgery.

Keywords:
NeurosurgeryStereo visionSurface registrationSurgical robotics

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Area of Science:

  • Neurosurgical robotics
  • Medical imaging
  • Computer-assisted surgery

Background:

  • Current markerless registration methods for neurosurgical robotics rely on facial surfaces, requiring manual interaction and limiting patient positioning.
  • These limitations hinder flexibility and efficiency in robotic-assisted procedures.

Purpose of the Study:

  • To develop an automatic, markerless registration technique for neurosurgical robotics.
  • To eliminate patient position constraints and manual interaction in the registration process.

Main Methods:

  • Utilizing an optical camera on the robot end effector to capture multi-view images of the patient's head.
  • Reconstructing head surface point clouds using multi-view stereo vision.
  • Employing a manually drawn mark for automatic coarse registration and surface registration for fine alignment, independent of facial landmarks.

Main Results:

  • The head surface was acquired with good repeatability accuracy.
  • The average target registration error in a head phantom was [Formula: see text].
  • The mean surface registration error was [Formula: see text].

Conclusions:

  • The proposed method achieves automatic markerless registration across various patient positions.
  • Registration accuracy within the head is guaranteed, offering a novel approach for image-to-robot space spatial relationship establishment.