Projective invariant biplanar registration of a compact modular orthopaedic robot.
作者： Sheng Luan , Lei Sun , Lei Hu , Aimin Hao , Changsheng Li
DOI: 10.3233/BME-130837
关键词: Computer vision 、 Workspace 、 Mathematics 、 Projective invariants 、 Affine transformation 、 Modular design 、 Sacroiliac screw 、 Artificial intelligence 、 Robot 、 Orthopedic Procedures 、 Fluoroscopic image
摘要: This paper presents a compact orthopedic robot designed with modular concept. The layout of the configuration is adaptive to various conditions such as surgical workspace and targeting path. A biplanar algorithm adopted for mapping from fluoroscopic image robot, while former affine based method satisfactory only when projection rays are basically perpendicular reference coordinate planes. introduces area cross-ratio projective invariant improve registration accuracy non-orthogonal orientations, so that robotic system could be applied more procedures under C-Arm orientation conditions. configurations femoral neck screw sacroiliac fixation presented. its efficacy two typical applications validated by experiments.
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