Preclinical Computer Virtual Reduction of Fracture Surgical Robot Based on Iterative Closest Point Algorithm

Abstract

Reduction is a crucial stage in the surgical treatment of bone fractures.The detailed fracture information of the patient can be obtained from computed tomography (CT) scans before surgery and enable physicians to plan preoperative reduction, to reduce the operation time and thus increase the probability of getting satisfactory results. The primary purpose of this paper is to design a computer-aided automatic registration method of fracture point cloud data, so as to simplify the fracture reduction process. In this paper, we propose an integrated fracture reduction system was introduced. The system enables direct semi-automatic processing from CT images to fracture reduction. First, a 3D fracture models is reconstructed from CT images by using the modified Marching Cube (MC) algorithm and is discretized to generate a point cloud. Second, the K-dimensional (KD) tree algorithm is used to cluster and segment the point clouds to identify different fracture fragments. Last, through the combination algorithm of Normal Distributions Transform(NDT) and modified Iterative Closest Point(ICP), the coarse alignment and fine registration of point clouds are achieved step by step. This method has been successfully applied to the reduction of tibial fracture. In the tests performed, the processing time of each step, the point cloud and the 3D model after registration are displayed. The semi-automatic integrated system based on preoperative CT scanning is used to realize fracture reduction，which provides a feasible foundation for minimally invasive and accurate fracture reduction surgery.