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Published under licence by IOP Publishing Ltd
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ICMCE IOP Publishing
IOP Conf. Series: Journal of Physics: Conf. Series 1016 (2018) 012006 doi :10.1088/1742-6596/1016/1/012006
A spatial registration method for navigation system
combining O-arm with spinal surgery robot
H Bai
1,2
, G L Song
1
Y W Zhao
1
X Z Liu
1,2
and Y X Jiang
1
1
Shenyang Institute of Automation, Chinese Academy of Sciences, China.
2
Northeastern University, China.
Email: songgl@sia.cn
Abstract. The minimally invasive surgery in spinal surgery has become increasingly popular
in recent years as it reduces the chances of complications during post-operation. However, the
procedure of spinal surgery is complicated and the surgical vision of minimally invasive
surgery is limited. In order to increase the quality of percutaneous pedicle screw placement, the
O-arm that is a mobile intraoperative imaging system is used to assist surgery. The robot
navigation system combined with O-arm is also increasing, with the extensive use of O-arm.
One of the major problems in the surgical navigation system is to associate the patient space
with the intra-operation image space. This study proposes a spatial registration method of
spinal surgical robot navigation system, which uses the O-arm to scan a calibration phantom
with metal calibration spheres. First, the metal artifacts were reduced in the CT slices and then
the circles in the images based on the moments invariant could be identified. Further, the
position of the calibration sphere in the image space was obtained. Moreover, the registration
matrix is obtained based on the ICP algorithm. Finally, the position error is calculated to verify
the feasibility and accuracy of the registration method.
1. Introduction
In the past two decades, minimally invasive spine surgery (MISS) has been increasingly applied and
drawn much attention in the treatment of spinal disorders[1]. The development of image technology
has led to a more significant development of minimally invasive spinal surgery. Not only can MISS
minimize injury to paraspinal back muscles, connective tissues, and joints but it can also decrease the
amount of bleeding, infection, hospital stay, and postoperative pain[2].It decreases the incidence of
complications and approach-related morbidity and mortality associated with conventional open
surgery. The traditional open spine surgery has gradually been replaced with MISS. According to the
reports[1], the number of MISS conducted in 2010 accounted for 1/6 of the total number of all spine
surgeries in the United States and 1/3 in 2016, which is anticipated to be more than 1/2 in 2020.
Although MISS has the above advantages, it still faces to the following problems: (1) Surgeon's
surgical vision is limited. (2) With the increasing number of surgery, the surgeon's intra-operative
radiation exposure will accumulate. (3) The lack of surgical instrument's real-time position, reduces
the safety of surgical procedures.
In order to solve the above problems, some scholars have proposed that the robot navigation
technology could assist surgeons. A study assessed the feasibility and clinical value of robot assisted
navigation drilling for pedicle screw placement and the results confirmed that robot assisted surgery
could increase the quality of percutaneous pedicle screw placement[3]. The accuracy of guidance
systems in screw insertion procedures is particularly notable in anatomically difficult cases, such as
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