Pedicle Drilling Planning Transfer for Spine Surgery Using Functional Map Correspondences - Institut des Systèmes Intelligents et de Robotique Accéder directement au contenu
Communication Dans Un Congrès Année : 2024

Pedicle Drilling Planning Transfer for Spine Surgery Using Functional Map Correspondences

Résumé

Precise pedicle screw placement is crucial in spine surgery, where minor inaccuracies can result in significant complications. Despite introducing robot-assisted navigation systems to aid surgeons, accommodating the spine's non-rigid movements (due to patient movement or interactions with the surgeon) often necessitates repeated intraoperative imaging, leading to increased radiation exposure. To address this challenge, we propose a novel method that utilizes the functional map (FM) framework to transfer drilling trajectories from preoperative CT scans to partially observed and noisy spine models. Specifically, the FM correspondences enhance the registration quality of pre-operative and perioperative 3D spine model data, even in the presence of non-rigid deformations. Through comprehensive simulations, we assess the method's effectiveness across various cases of complex deformations using a spine model consisting of five lumbar vertebrae obtained through CT scans. Validation involves evaluating registration errors in translation and rotation and verifying the clinical validity of transferred drilling trajectories. The results demonstrate the method's efficiency in transferring drilling trajectories onto noisy, partially observed, and deformed spine models.
Fichier principal
Vignette du fichier
2024_Iros.pdf (2.2 Mo) Télécharger le fichier
Origine Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-04661996 , version 1 (25-07-2024)

Identifiants

  • HAL Id : hal-04661996 , version 1

Citer

Lilyan Leblanc, Raphael Vialle, Cristina de Farias, E. Saghbini, Naresh Marturi, et al.. Pedicle Drilling Planning Transfer for Spine Surgery Using Functional Map Correspondences. 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), IEEE, Oct 2024, Abu Dhabi, United Arab Emirates. ⟨hal-04661996⟩
0 Consultations
0 Téléchargements

Partager

Gmail Mastodon Facebook X LinkedIn More