Development of Camera-Based Computer Assisted Navigation System for Acetabular Cup Positioning

• Main Authors: Chang, Ta-En, 張大恩
• Other Authors: Lin, Cheng-Chung
• Format: Others
• Language: zh-TW
• Published: 2018
• Online Access: http://ndltd.ncl.edu.tw/handle/rtpgfs

碩士 === 輔仁大學 === 電機工程學系碩士班 === 106 === Total hip arthroplasty is one of the most frequently used treatments for the degenerative joint disease of the hip joint. Accurate acetabular cup positioning will help reduce the prevalence of complication. Therefore, the study aimed to develop a computer-assisted navigation system based on dual cameras to assist guiding the orientation of the acetabular cup during the total hip arthroplasty surgery. The built system was initially applied in canine total hip arthroplasty. A validation study conducted on canine pelvic dry bone was carried out to evaluate the performance of the self-developed surgical navigation system. The intraoperative and post-operative orientation errors of the acetabular cup were assessed. The self-developed navigation system was consisted of dual cameras as sensing devices which were used to capture the images of dynamic reference bases for tracking the poses of the pelvis and acetabular cup and real-time images of surgical field for surgeons. Prior to the navigation, a camera calibration procedure was performed to obtain the intrinsic and extrinsic parameters of the dual cameras. A color calibration procedure was also performed to determine the color thresholds and corresponding tolerances for the marker plates. During the navigation process, a particle filter was implemented to efficiently localize the image region of the dynamic reference base and a numerical optimization was used to estimate the three-dimensional positions and orientations of the dynamic reference base, which then determined the poses of the dynamic reference bases and the target objects. The arrangement of the system would provide the real-time computation and display the augmented navigation guidance on the screen. A simulated surgical procedure conducting on the canine dry bone and 3D-printed models was performed to evaluate the performance of the self-developed navigation system. A post-operative computed tomography was used to analyze the orientation errors of the acetabular cup. The results showed that, with the assistance of the navigation system, the mean orientation errors of the acetabular cup were less than 10.2 degrees on three anatomical planes. The preliminary validation study demonstrated the feasibility of the self-developed system and showed its potentials on applying for the canine total hip arthroplasty.