Computer-assisted spine surgery: a technique for accurate transpedicular screw fixation using CT data and a 3-D optical localizer.

The computer-assisted spine surgery system presented in this paper follows the basic ideas which have been developed for computer-assisted medical interventions (CAMI) in our lab since 1985. There are three steps to insert a linear tool inside vertebral pedicles. First, the surgeon defines an optimal trajectory on pre-operative computed tomography. Second, this trajectory is reported in the operating room coordinate system using an intra-operative sensor and a registration algorithm. Third, a guiding system helps the surgeon follow the selected trajectory. In this paper, we present an implementation of this method that uses only a 3-dimensional optical localizer. Results on cadaver specimens and on the first seven patients are presented.

[1]  S. Lavallee,et al.  A new system for computer assisted neurosurgery , 1989, Images of the Twenty-First Century. Proceedings of the Annual International Engineering in Medicine and Biology Society,.

[2]  P. Cinquin,et al.  Computer Assisted Interventionist Imaging: Application To The Vertebral Column Surgery , 1990, [1990] Proceedings of the Twelfth Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[3]  F. Mendel,et al.  Morphometry of the lumbar spine: anatomical perspectives related to transpedicular fixation. , 1990, The Journal of bone and joint surgery. American volume.

[4]  Philippe Cinquin,et al.  From Splines and Snakes to SNAKE SPLINES , 1991, Geometric Reasoning for Perception and Action.

[5]  Matching 3-D Smooth Surfaces with their 2-D Projections using 3-D Distance Maps , 1991, Geometric Reasoning for Perception and Action.

[6]  Philippe Cinquin,et al.  Dynamic Segmentation: Finding the Edge With Snake Splines , 1991, Curves and Surfaces.

[7]  G. Champleboux,et al.  From accurate range imaging sensor calibration to accurate model-based 3D object localization , 1992, Proceedings 1992 IEEE Computer Society Conference on Computer Vision and Pattern Recognition.

[8]  Philippe Cinquin,et al.  Computer assisted spine surgery: A first step toward clinical, application in orthopaedics , 1992, 1992 14th Annual International Conference of the IEEE Engineering in Medicine and Biology Society.

[9]  P. Cinquin.  Gestes médico-chirurgicaux assistes par ordinateur , 1993 .

[10]  C. Barbe,et al.  Using 2.5D echography in computer assisted spine surgery , 1993, Proceedings of the 15th Annual International Conference of the IEEE Engineering in Medicine and Biology Societ.

[11]  E. Sim,et al.  Location of transpedicular screws for fixation of the lower thoracic and lumbar spine. Computed tomography of 45 fracture cases. , 1993, Acta orthopaedica Scandinavica.

[12]  P. Cinquin,et al.  Computer assisted medical interventions , 1995 .

[13]  Richard Szeliski,et al.  Recovering the Position and Orientation of Free-Form Objects from Image Contours Using 3D Distance Maps , 1995, IEEE Trans. Pattern Anal. Mach. Intell..

[14]  A Hamadeh,et al.  Building a hybrid patient's model for augmented reality in surgery: a registration problem. , 1995, Computers in biology and medicine.