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Updated: Oct 5, 2025

Estimation of Contact Regions Between Hands and Objects During Human Multi-Digit Grasping
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Markerless registration approach using dynamic touchable region model.

Hang Phuong Nguyen1, Taeho Kim1, Sungmin Kim1

  • 1Department of Electrical, Electronic, and Computer Engineering, University of Ulsan, Ulsan, South Korea.

The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS
|January 31, 2022
PubMed
Summary
This summary is machine-generated.

Markerless registration for image-guided surgery is improved using a dynamic touchable region model (DTRM). This novel approach enhances accuracy in procedures where traditional markers are unsuitable, offering a viable alternative.

Keywords:
image-guided surgerymarkerless registrationpaired-point registration

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Area of Science:

  • Medical Imaging
  • Surgical Navigation
  • Computer-Aided Surgery

Background:

  • Markerless registration is crucial for image-guided surgery but faces accuracy limitations due to ambiguous point sets.
  • Current methods struggle in scenarios where adhesive fiducial markers cannot be used.

Purpose of the Study:

  • To introduce a novel registration framework to enhance markerless registration accuracy.
  • To utilize a dynamic touchable region model (DTRM) for improved surgical navigation.

Main Methods:

  • The dynamic touchable region model (DTRM) was defined using geometric surface characteristics and Intrinsic Shape Signature keypoints.
  • A new registration procedure, iterative closest point-based registration with DTRM (ICDTP), was developed and tested.
  • Phantom experiments were conducted for both single-user and multi-user validation.

Main Results:

  • The ICDTP registration framework demonstrated superior performance compared to traditional paired-point registration.
  • The method proved effective in surgical contexts where marker placement is not feasible.

Conclusions:

  • The proposed ICDTP method offers a promising alternative for markerless registration in image-guided surgery.
  • This approach is particularly beneficial for operations where marker setup is impractical.