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Intraoperative Registration of a Surgical Tool With Preoperative CT Data Based on Optical Tracking
Precise alignment of surgical tools during joint replacement surgeries is of vital importance for a successful intervention. It has been suggested that tool misalignment is the most frequent reason for procedure revision. Nowadays, computer-assisted navigation systems can be used to aid the surgeon with tool alignment. This project aims at developing a workflow and application for navigation of a surgical drill. Tool and target bone will be instrumented and tracked with an optical tracking system. The developed application will then register the tool with preoperative CT data and guide it to a target pose.
Joints in humans or animals are of vital importance, as they allow mobility of the skeletal system. Joints can get damaged due to excessive wear and tear, old age, or injury. If the damage is severely inhibiting the joint's function, it might need to be replaced by a prosthesis. In the case of the knee joint, this procedure is known as total knee arthroplasty (TKA). Although these are standard procedures, they occasionally need to be revised. It has been suggested that the most frequent reason for TKA revision is error in surgical technique. These errors can lead to misaligned prostheses, which can in turn heavily impact postoperative performance. This insight gave rise to the development of surgical navigation tools, which can help the surgeon to perform cuts more accurately and consistently.
Joints in humans or animals are of vital importance, as they allow mobility of the skeletal system. Joints can get damaged due to excessive wear and tear, old age, or injury. If the damage is severely inhibiting the joint's function, it might need to be replaced by a prosthesis. In the case of the knee joint, this procedure is known as total knee arthroplasty (TKA). Although these are standard procedures, they occasionally need to be revised. It has been suggested that the most frequent reason for TKA revision is error in surgical technique. These errors can lead to misaligned prostheses, which can in turn heavily impact postoperative performance. This insight gave rise to the development of surgical navigation tools, which can help the surgeon to perform cuts more accurately and consistently.
A possible approach to surgical navigation is to plan the procedure on preoperative CT data of the target bone and to intraoperatively register the surgical tool to this data. A software can then be used to assist the surgeon in properly aligning the tool, for instance by means of a graphical user interface showing the current deviations between the tool and the preoperatively planned tool path. The goal of this project would be to develop such an application. We will be working with a surgical drill, which will be fit with optical tracking markers, such that its pose in 3D-space can be retrieved by a tracking system. A 3D-printed target bone will also be fit with markers. Your application then needs to load given CT data of the bone and to register it with the physical bone and tool. You will validate your application by defining target axes in the CT data, drilling into the 3D-printed bone, and evaluating the deviations between the corresponding virtual and physical axes.
A possible approach to surgical navigation is to plan the procedure on preoperative CT data of the target bone and to intraoperatively register the surgical tool to this data. A software can then be used to assist the surgeon in properly aligning the tool, for instance by means of a graphical user interface showing the current deviations between the tool and the preoperatively planned tool path. The goal of this project would be to develop such an application. We will be working with a surgical drill, which will be fit with optical tracking markers, such that its pose in 3D-space can be retrieved by a tracking system. A 3D-printed target bone will also be fit with markers. Your application then needs to load given CT data of the bone and to register it with the physical bone and tool. You will validate your application by defining target axes in the CT data, drilling into the 3D-printed bone, and evaluating the deviations between the corresponding virtual and physical axes.
Cédric Duverney
cedric.duverney@unibas.ch
BIROMED-Lab
Department of Biomedical Engineering
University of Basel
4123 Allschwil
Switzerland
Cédric Duverney cedric.duverney@unibas.ch BIROMED-Lab Department of Biomedical Engineering University of Basel 4123 Allschwil Switzerland