Aligning 3D Curve With Surface Using Tangent and Normal Vectors for Computer-Assisted Orthopedic Surgery
نویسندگان
چکیده
Registration that aligns different views of one interested organ together is an essential technique and outstanding problem in medical robotics image-guided surgery (IGS). This work introduces a novel rigid point set registration (PSR) approach aims to accurately map the pre-operative space with intra-operative enable successful image guidance for computer-assisted orthopaedic (CAOS). The normal vectors tangent are first extracted from sets (PSs) respectively, further utilized enhance accuracy robustness. contributions this article three-folds. First, we propose formulate distribution describes error between vector corresponding based on von-Mises Fisher (vMF) distribution. Second, by modelling anisotropic position localization multi-variate Gaussian distribution, PSR considering as maximum likelihood estimation (MLE) then solve it under expectation maximization (EM) framework. Third, facilitate optimization process, gradients objective function respect desired parameters computed presented. Extensive experimental results human femur pelvis models verify proposed outperforms state-of-the-art methods, demonstrate potential clinical values relevant surgical navigation applications.
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ژورنال
عنوان ژورنال: IEEE transactions on medical robotics and bionics
سال: 2021
ISSN: ['2576-3202']
DOI: https://doi.org/10.1109/tmrb.2021.3075784