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Medical Image Analysis 7 (2003) 237250 www.elsevier.com/locate/media

Summary: Medical Image Analysis 7 (2003) 237250
Robust registration for computer-integrated orthopedic surgery:
Laboratory validation and clinical experience
*B. Ma, R.E. Ellis
School of Computing, Queen's University, Kingston, Ontario, Canada K7L 3N6
Received 19 July 2001; received in revised form 1 October 2002; accepted 6 November 2002
In order to provide navigational guidance during computer-integrated orthopedic surgery, the anatomy of the patient must first be
registered to a medical image or model. A common registration approach is to digitize points from the surface of a bone and then find the
rigid transformation that best matches the points to the model by constrained optimization. Many optimization criteria, including a
least-squares objective function, perform poorly if the data include spurious data points (outliers). This paper describes a statistically
robust, surface-based registration algorithm that we have developed for orthopedic surgery. To find an initial estimate, the user digitizes
points from predefined regions of bone that are large enough to reliably locate even in the absence of anatomic landmarks. Outliers are
automatically detected and managed by integrating a statistically robust M-estimator with the iterative-closest-point algorithm. Our in
vitro validation method simulated the registration process by drawing registration data points from several sets of densely digitized surface
points. The method has been used clinically in computer-integrated surgery for high tibial osteotomy, distal radius osteotomy, and
excision of osteoid osteoma.
2003 Elsevier B.V. All rights reserved.
Keywords: Computer-integrated orthopedic surgery; Validation; Clinical experience


Source: Abolmaesumi, Purang - School of Computing, Queen's University (Kingston)


Collections: Computer Technologies and Information Sciences