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    A System For Computer-Assisted Surgery With Intraoperative CT Imaging

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    Date
    2009-08-17
    Author
    Oentoro, Anton
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    Abstract
    Image-guided interventions using intraoperative three-dimensional (3D) imaging can be

    less cumbersome than systems dependent on preoperative images, especially by needing

    neither image-to-patient registration nor a lengthy process of segmenting and generating

    a 3D model. In this dissertation, a method for computer-assisted surgery using direct

    navigation on intraoperative images is presented. In this system the registration step of

    a navigated procedure was divided into two stages: preoperative calibration of images to

    a ceiling-mounted optical tracking system, and intraoperative tracking during acquisition

    of the 3D image. The preoperative stage used a custom-made multi-modal calibrator that

    could be optically tracked and also contained fiducial spheres for radiological detection; a

    robust registration algorithm was used to compensate for the high false-detection rate that

    arose from the optical light-emitting diodes. Intraoperatively, a tracking device was at-

    tached to bone models that were also instrumented with radio-opaque spheres; a calibrated

    pointer was used to contact the latter spheres as a validation. The fiducial registration error

    of the calibration stage was approximately 0.1 mm with the Innova 3D X-ray fluoroscope

    and 0.7 mm with the mobile-gantry CT scanner. The target registration error in the valida-

    tion stage was approximately 1.2 mm with the Innova 3D X-ray fluoroscope and 1.8 mm

    with the mobile-gantry CT scanner. These findings suggest that direct registration can be a

    highly accurate means of performing image-guided interventions in a fast, simple manner.
    URI for this record
    http://hdl.handle.net/1974/2603
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