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A fully automatic surgical registration method for percutaneous abdominal puncture surgical navigation
Jing Li1, Zongqian Deng1, Nanyan Shen1
1Shanghai Key Laboratory of Intelligent Manufacturing and Robotics, School of Mechatronic Engineering and Automation, Shanghai University, Shanghai, China.
Computers in Biology and Medicine
|August 10, 2021
Summary
A novel marker-less surgical registration method enhances surgical navigation accuracy and efficiency. This approach uses Computed Tomography (CT) and Coherent Point Drift (CPD) for precise instrument localization without human intervention.
Area of Science:
- Medical Imaging
- Computer-Aided Surgery
- Surgical Navigation Systems
Background:
- Accurate surgical registration is crucial for effective surgical navigation and instrument localization.
- Traditional marker-based methods offer high accuracy but are time-consuming.
- There is a need for efficient, high-precision, marker-less registration techniques.
Purpose of the Study:
- To propose a novel marker-less surgical registration method for improved precision and efficiency.
- To develop an automated system that does not require human intervention.
- To validate the method's performance in simulated surgical scenarios.
Main Methods:
- Calibration of a multi-vision surgical navigation system using a custom calibration board.
- Utilizing Computed Tomography (CT) constraints to filter abdominal point clouds from structured light systems, enhancing computational efficiency.
- Application of the Coherent Point Drift (CPD) algorithm, based on Gaussian Mixture Model (GMM), for registering point clouds lacking distinct surface features.
- Enhancing CPD efficiency through initial rough registration using system calibration results and experimental optimization of point cloud preprocessing techniques.
Main Results:
- The proposed method demonstrated high accuracy and efficiency in puncturing simulations using an abdominal phantom.
- CT image constraints effectively filtered irrelevant points, improving computational speed.
- Optimized CPD algorithm and preprocessing steps led to enhanced registration performance.
- Experimental validation confirmed the method's potential for clinical application.
Conclusions:
- The developed marker-less surgical registration method achieves high accuracy and efficiency.
- The approach shows significant potential for clinical application in surgical navigation.
- This technique offers a promising alternative to time-consuming marker-based registration methods.
