Bone alignment procedure utilizes fluoroscopic image for pose estimation and guidance of the robotic surgical assistants. Following a registration procedure (see Point and surface registration in orthopedy), the volumetric data is used to construct a 3D bony structure of the femur (as will be explained in an upcoming article about 3D reconstruction in orthopedic surgery by RSIP Vision) and indicate bone pose (position and orientation). In short, image features are matched to a pre-designed flexible geometrical model of the bone, in a top bottom approach involving optimization; this generates a registered virtual model of the femur’s segments. Computational models for fracture alignment have been shown to increase the accuracy and reduce complication resulting from segment misalignment, which amount for about 20% of femur fracture complications.
Computer vision approaches for 3D reconstruction of the femur are done on an individual case basis. It can therefore be considered as personalized medicine, as patient specific parameters are used to calibrate a bone model that is used to guide the physician in the alignment process. The volumetric nature of the data reduces the need for the physician to mentally reconstruct the fracture region to deduce the best pose.