Towards Markerless 3D Pose Estimation for Computer Assisted Orthopaedic Surgery: a Comparison Study of Depth Cameras

Jérôme Ogor; Guillaume Dardenne; Salaheddine Sta; Julien Bert; Hoel Letissier; Eric Stindel; Chafiaa Hamitouche

doi:10.29007/zfg2

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Towards Markerless 3D Pose Estimation for Computer Assisted Orthopaedic Surgery: a Comparison Study of Depth Cameras

4 pages•Published: September 25, 2020

Jérôme Ogor, Guillaume Dardenne, Salaheddine Sta, Julien Bert, Hoel Letissier, Eric Stindel and Chafiaa Hamitouche

Abstract

This abstract addresses the problem of localizing surgical instruments during orthopaedic surgeries. Compared to usual approaches based on surgical navigation with markers, we propose here a novel method that estimates the 6-DoF pose of surgical instruments without specific markers using a depth camera. The goal of this paper is to compare, on real data, the registration precision of an algorithm called Point Pair Features (PPF) according to consumer depth cameras available on the market. Experimental validation using sawbones has been conducted and 8 cameras have been tested in realistic clinical environment. The Kinect Azure reports the best precision with a registration error of 1.13mm ± 1.00mm.

Keyphrases: 3D pose estimation, depth camera, markerless, registration, surgical instruments, Total knee arthroplasty

In: Ferdinando Rodriguez Y Baena and Fabio Tatti (editors). CAOS 2020. The 20th Annual Meeting of the International Society for Computer Assisted Orthopaedic Surgery, vol 4, pages 211--214

Links:	https://easychair.org/publications/paper/6D6g
	https://doi.org/10.29007/zfg2

BibTeX entry

@inproceedings{CAOS2020:Towards_Markerless_3D_Pose,
  author    = {J\textbackslash{}'er\textbackslash{}\textasciicircum{}ome Ogor and Guillaume Dardenne and Salaheddine Sta and Julien Bert and Hoel Letissier and Eric Stindel and Chafiaa Hamitouche},
  title     = {Towards Markerless 3D Pose Estimation for Computer Assisted Orthopaedic Surgery: a Comparison Study of Depth Cameras},
  booktitle = {CAOS 2020. The 20th Annual Meeting of the International Society for Computer Assisted Orthopaedic Surgery},
  editor    = {Ferdinando Rodriguez Y Baena and Fabio Tatti},
  series    = {EPiC Series in Health Sciences},
  volume    = {4},
  pages     = {211--214},
  year      = {2020},
  publisher = {EasyChair},
  bibsource = {EasyChair, https://easychair.org},
  issn      = {2398-5305},
  url       = {https://easychair.org/publications/paper/6D6g},
  doi       = {10.29007/zfg2}}

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