{"doi":"10.1109/tmrb.2020.3012460","title":"Fiducial-Free 2D/3D Registration for Robot-Assisted Femoroplasty","abstract":"Femoroplasty is a proposed alternative therapeutic method for preventing osteoporotic hip fractures in the elderly. Previously developed navigation system for femoroplasty required the attachment of an external X-ray fiducial to the femur. We propose a fiducial-free 2D/3D registration pipeline using fluoroscopic images for robot-assisted femoroplasty. Intraoperative fluoroscopic images are taken from multiple views to perform registration of the femur and drilling/injection device. The proposed method was tested through comprehensive simulation and cadaveric studies. Performance was evaluated on the registration error of the femur and the drilling/injection device. In simulations, the proposed approach achieved a mean accuracy of 1.26±0.74 mm for the relative planned injection entry point; 0.63±0.21° and 0.17±0.19° for the femur injection path direction and device guide direction, respectively. In the cadaver studies, a mean error of 2.64 ± 1.10 mm was achieved between the planned entry point and the device guide tip. The biomechanical analysis showed that even with a 4 mm translational deviation from the optimal injection path, the yield load prior to fracture increased by 40.7%. This result suggests that the fiducial-less 2D/3D registration is sufficiently accurate to guide robot assisted femoroplasty.","journal":"IEEE Transactions on Medical Robotics and Bionics","year":2020,"id":94886,"datarank":0.0,"base_score":0.0,"endowment":0.0,"self_citation_contribution":0.0,"citation_network_contribution":0.0,"self_endowment_contribution":0.0,"citer_contribution":0.0,"corpus_percentile":null,"corpus_rank":null,"citation_count":37,"citer_count":0,"citers_with_citation_signal":0,"citers_with_endowment":0,"datacite_reuse_total":0,"is_dataset":false,"is_dataset_confidence":0.9533,"is_data_producer":false,"deposit_databanks":null,"is_oa":true,"file_count":0,"downloads":0,"has_version_chain":false,"published_date":"2020-01-01","fair_score":null,"fair_percentile":null,"algorithm_id":"datarank_citation_only_1hop_v6","ranking_scope":"data_only","authors":[{"id":471990,"name":"Amirhossein Farvardin","orcid":"0000-0002-0936-5546","position":1,"is_corresponding":false},{"id":471991,"name":"Robert B. Grupp","orcid":"0000-0003-3386-5839","position":2,"is_corresponding":false},{"id":471992,"name":"Mahsan Bakhtiarinejad","orcid":"0000-0003-2730-2626","position":3,"is_corresponding":false},{"id":472577,"name":"Liuhong Ma","orcid":null,"position":4,"is_corresponding":false},{"id":471993,"name":"Mareike Thies","orcid":"0000-0002-1364-4337","position":5,"is_corresponding":false},{"id":360698,"name":"Mathias Unberath","orcid":"0000-0002-0055-9950","position":6,"is_corresponding":false},{"id":471994,"name":"Russell H. Taylor","orcid":"0000-0001-6272-1100","position":7,"is_corresponding":false},{"id":330889,"name":"Mehran Armand","orcid":"0000-0003-1028-8303","position":8,"is_corresponding":false},{"id":471989,"name":"Cong Gao","orcid":"0000-0001-6798-8381","position":0,"is_corresponding":true}],"reference_count":44,"raw_metadata":null,"created_at":"2026-07-18T22:33:00.770265Z","pmid":"33763632","pmcid":null,"fwci":null,"citation_percentile":null,"influential_citations":0,"oa_status":null,"license":null,"views":0,"total_file_size_bytes":0,"version_count":0,"fair_f":null,"fair_a":null,"fair_i":null,"fair_r":null,"fair_zscore":null,"fair_rationale":null,"fair_model":null,"fair_agent_version":null,"fair_fulltext_source":null,"fair_has_llm":null,"fair_computed_at":null,"clinical_trials":[],"software_tools":[],"db_accessions":[],"linked_datasets":[],"topics":[]}