/Orthopedic-Robot-Navigation

2D/3D Registration and system integration for image-based navigation of orthopedic robotic applications, inculding femoroplasty, osteonecrosis, etc.

Primary LanguageC++MIT LicenseMIT

Registration and System Integration Software for Orthopedic Surgical Robotic System

This repository contains software programs for image-based registration, system integration and navigation tasks relating to orthopedic surgical robot applications. The repository is developed based on xReg, following its general structure and routines. For more information of xReg, please visit the wiki for descriptions on the use of the library and executable programs. This repository forks the complete library support of xReg. The compilation of xReg and thirdparty libraries can be done using stand-alone clone of this repository.

This software was developed with support from Dr. Robert Grupp, while conducting research under the supervision of Profs. Mehran Armand, Russell Taylor and Mathias Unberath within the Laboratory for Computational Sensing and Robotics at Johns Hopkins University.

Library Features:

Programs

Some of the capabilities provided by individual programs contained with the apps directory include:

Planned Work

Although the following capabilities currently only exist in an internal version of the xReg software, they will be incorporated into this repository at a future date:

  • Executable for running a multiple-view/multiple-resolution 2D/3D registration pipeline defined using a configuration file
  • Intraoperative reconstruction of PAO bone fragments
  • Utilities for creation and manipulation of statistical shape models
  • Shape completion from partial shapes and statistical models
  • More point cloud manipulation utilities
  • Python bindings, conda integration
  • And more...

Dependencies

  • C++ 11 compatible compiler
  • External libraries (compatible versions are listed):

Building

A standard CMake configure/generate process is used. It is recommended to generate Ninja build files for fast and efficient compilation. An example script for building all dependencies (except OpenCL) and the xReg repository is also provided here. The docker directory demonstrates how Docker may be used to build the software.

Acknowledgement

Development of this software results in the following publication references:

C. Gao et al., "Fiducial-Free 2D/3D Registration for Robot-Assisted Femoroplasty," in IEEE Transactions on Medical Robotics and Bionics, vol. 2, no. 3, pp. 437-446, Aug. 2020, doi: 10.1109/TMRB.2020.3012460.
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@ARTICLE{9151197,  author={C. {Gao} and A. {Farvardin} and R. B. {Grupp} and M. {Bakhtiarinejad} and L. {Ma} and M. {Thies} and M. {Unberath} and R. H. {Taylor} and M. {Armand}},  journal={IEEE Transactions on Medical Robotics and Bionics},   title={Fiducial-Free 2D/3D Registration for Robot-Assisted Femoroplasty},   year={2020},  volume={2},  number={3},  pages={437-446},  doi={10.1109/TMRB.2020.3012460}}

Cong Gao, Robert B. Grupp, Mathias Unberath, Russell H. Taylor, Mehran Armand, "Fiducial-free 2D/3D registration of the proximal femur for robot-assisted femoroplasty," Proc. SPIE 11315, Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling, 113151C (16 March 2020); https://doi.org/10.1117/12.2550992
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@inproceedings{10.1117/12.2550992,
author = {Cong Gao and Robert B. Grupp and Mathias Unberath and Russell H. Taylor and Mehran Armand},
title = {{Fiducial-free 2D/3D registration of the proximal femur for robot-assisted femoroplasty}},
volume = {11315},
booktitle = {Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling},
editor = {Baowei Fei and Cristian A. Linte},
organization = {International Society for Optics and Photonics},
publisher = {SPIE},
pages = {350 -- 355},
keywords = {2D/3D Registration, Femur Registration, X-ray Navigation, Femoroplasty},
year = {2020},
doi = {10.1117/12.2550992},
URL = {https://doi.org/10.1117/12.2550992}
}