Despite of the significance of computed tomography (CT) images in surgery planning and guidance, CT scans are not always applicable due to high radiation exposure, particularly risky for children and youth. It is critical to reduce radiation exposure for high sensitive candidates and statistical atlas based approach has therefore been an alternative with minimal radiation exposure. We addressed the aforementioned challenges through statistical atlas constructions, 3D atlas to 2D radiography registration to get patient-specific models with minimal radiations and multiple-objective optimisation for planning the treatments. Statistical atlas can be employed to construct the global reference map. The atlas then can be registered to a pair of intra-operative fluoroscopy images for constructing a patient-specific model. In this way, we can reduce the radiation exposure to the patients significantly. To characterise shape variations, a statistical shape atlas is constructed using Point Distribution Model, by which a mean shape, modes of shape variation and shape variation are obtained. To construct the patient specific model from the statistical atlas, 3D-2D registration is essential and a back-projected ray based 3D-2D Iterative Closest Point registration method is investigated. Then the treatment planning module for optimal insertion is investigated to avoid critical zone and unnecessary punctures. The experiment shows the feasibility of the proposed method for atlas-based, image-guided orthopaedic interventions using minimal radiograph and optimal planning. The proposed framework can be extended to other potential applications and one example is for periacetabular osteotomy, particularly for young females which is of great importance to minimise radiation dose during surgical planning and navigation.
This paper presents a methodology for measuring the femoro-pelvic joint angle based on We scanned a healthy subject in a lying position in a 3T MRI scanner to obtain high resolution (HR) images including two transverse T1-weighted TSE sequence scans at the pelvis and knee and a sagittal T1-weighted dual sense scan at the hip joint. We then scanned the same subject in a weight-bearing configuration in a 0.5T open MRI scanner to obtain related low resolution (LR) images of the femur and acetabulum. Four scan cycles were obtained with the subject being removed and reinserted between cycles in the Open MRI scanner. In each cycle, a block was inserted (up position) and removed (down position) under the subject's foot. The femur and acetabulum bone models were manually segmented and the models from the LR (sitting) images were registered to the HR (supine) images. The femoroacetabular angles relative to the LR scanning plane for four cycles were calculated. The femoral angle relative to the scanner were quite repeatable (SD < 0.9°), the pelvic angles less so (SD ∼2.6–4.3°). The hip flexion angle ranged from 23°–34° in the down and up positions, respectively, so the block induced a mean angle change in the flexion direction of approximately 11° (SD = 1.7°). We found that the femoral position could be accurately re-acquired upon repositioning, while the pelvic position was notably more variable. Limb position changes induced by inserting a block under the subject's foot were consistent (standard deviations in the relative attitude angles under 2°). Overall, our measurement method produces plausible measures of both the femoroacetabular angles and the changes induced by the block, and the reproducibility of relative joint changes is good. ACKNOWLEDGMENTS: Dr. Kang was supported by the National Science and Engineering Research Council of Canada (NSERC) through a Postdoctoral Fellowship and conducted her research at the Centre for Hip Health and Mobility at Vancouver General Hospital, Canada.
Anterior Cruciate Ligament (ACL) rupture is one of the commonest injuries in sports medicine. However, the rates of the reported graft re-rupture range from 2–10%, leading to around 3000 to 10000 revision ACL reconstructions in United States per annum. Inaccurate tunnel positions are considered to be one of the commonest reasons leading to failure and subsequent revision surgery. Additionally, there remains no consensus of the optimal position for ACL reconstructions. The positions of the bone tunnels in patients receiving ACL reconstruction are traditionally assessed using X-rays. It is well known that conventional X-ray is not a precise tool in assessing tunnel positions. Thus, there is a recent trend in using three-dimensional (3D) CT. However, routine CT carries a major disadvantage in terms of significant radiation hazard. In addition, it is both inconvenient and expensive to use CT as a regular assessment tools during the follow-up. The goal of the present work is to We propose two 2D-3D registration methods. One is a contour-based method that uses pure geometric information. Most methods in this category accomplish the registration by extracting contours in X-rays, establishing their correspondences on the 3D model, and calculating the registration parameters. Unlike these methods, which need point-to-point correspondences, The second method takes into account both the geometric shape of the object and the intensity property (intensity changes) of the image, where the intensity changes can be detected via image gradients. The use of gradient is based on the interpretation that two images are considered similar, if intensity changes occur at the same locations. The angles between the image gradients and the projected surface normals were used as a distance measure. The summation of the measures for all projected model points gives us the gradient term, which we multiply the contour-based measurement. Multiplication is preferred over addition because addition of the terms would require both terms to be normalised. To evaluate the feasibility of our methods, a simulation study was conducted using Digitally Reconstructed Radiographs (DRR) of a sawbone underwent a single-bundle ACL reconstruction performed by an experienced orthopedic surgeon. The real position of the bone tunnel entry point was obtained using the CT images, which were acquired using a custom-made well-calibrated cone-beam CT. The knee model was built by downsampling and smoothing the high-resolution CT reconstructions. It is important in our experiments to make the model different from the original reconstruction since this simulates the condition in which patient's CT is unavailable. Two DRRs generated from approximately anteroposterior and lateral viewpoints were used. For each DRR, 50 trials of 2D-3D registration were carried out for the femoral part using 50 different initialisations, which were randomly selected from the values independently and uniformly distributed within ±10 degrees and ±10 mm of the ground-truth. Compared with the ground-truth established using the CT images, our single image contour-based method achieved accurate estimations in rotations and in-plane translations, which were (−0.67±1.38, −0.98±0.84, −0.42±0.71) degrees and (0.11±0.26, −0.06±1.20) mm for the anteroposterior image, and (−0.78±0.76, −0.37±0.87, 0.70±0.88) degrees and (−0.14±0.22, 0.31±0.71) mm for the lateral one, respectively. The same experiments were also performed using the second method. However, it did not produce desirable results in our experiments. The tunnel entry point was then calculated using the averaged registration result of our contour-based method. For the 2D-3D registration, the estimated off-plane translations showed relatively low accuracy. It is well known that the depth can be difficult to be accurately estimated using one single image. As the result showed, the accuracy in rotations and in-plane translations is more important for ACL tunnel position estimation in our framework. As for the image gradient, it is too sensitive to the small perturbation caused by image noises. A more robust way of integrating the gradient information into our contour-based method is required. We propose a novel approach for estimating the 3D position of bone tunnels in ACL reconstruction using two post-operative X-rays. It was tested in a sawbone study using DRRs.
