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Robot-Assisted Reduction of the Ankle Joint via Multi-Body 3D-2D Image Registration
R C Vijayan1, N M Sheth1, J Wei1
1Department of Biomedical Engineering, Johns Hopkins University, Baltimore MD.
IEEE Transactions on Medical Robotics and Bionics
|February 24, 2025
Summary
This study introduces a novel method for robot-assisted orthopaedic joint reduction, using 2D fluoroscopy to track and correct deviations from the planned 3D path. This ensures accurate bone realignment and enhances patient safety during surgery.
Area of Science:
- Orthopaedic surgery
- Robotics
- Medical imaging
Background:
- Robot-assisted surgery offers precision but faces challenges with high forces causing unintended motion.
- Accurate anatomical realignment is crucial for successful orthopaedic joint reduction procedures.
Purpose of the Study:
- To develop and evaluate an image-based guidance system for robot-assisted orthopaedic joint reduction.
- To verify and readjust the 3D reduction path using 2D fluoroscopic imaging by tracking deviations.
- To enhance the accuracy and safety of robotic surgical procedures through dynamic course correction.
Main Methods:
- Implemented a 3D-2D registration algorithm utilizing paired fluoroscopic images and prior anatomical models.
- Coupled and constrained the poses of multiple objects including the fibula, tibia, talus, and robot end effector.
- Incorporated automatic view and hyperparameter selection for improved algorithm robustness, refined through cadaver studies and preclinical trials.
Main Results:
- Achieved high registration accuracy in cadaveric specimen studies, further enhanced by automatic view and hyperparameter selection.
- Demonstrated accurate capture of deviations between the intended and actual robotic system paths in preclinical trials.
- Validated the effectiveness of the proposed techniques in a preclinical trial involving a robotic system for fibula manipulation.
Conclusions:
- The developed solution provides closed-loop, image-based guidance for robot-assisted joint reduction.
- The system dynamically corrects the surgical path by tracking the robot and bones, ensuring accurate realignment.
- Expected benefits include reduced radiation exposure and improved safety for surgical staff by utilizing standard clinical images for 3D information.
