Point Cloud Registration Algorithm with Cross-Source and Low Overlapping Ratio for Pedicle Screw Fixation

Lijing Zhang; Binbin Wang; Wei Wang; Bo Wu; Nan Zhang

doi:10.3788/CJL230561

Chinese Journal of Lasers, Volume. 50, Issue 9, 0907108(2023)

Point Cloud Registration Algorithm with Cross-Source and Low Overlapping Ratio for Pedicle Screw Fixation

Lijing Zhang^1,2, Binbin Wang^1,2, Wei Wang³, Bo Wu^1,2、*, and Nan Zhang^1,2

Author Affiliations

¹School of Biomedical Engineering, Capital Medical University, Beijing 100069, China

²Beijing Key Laboratory of Fundamental Research on Biomechanics in Clinical Application, Capital Medical University, Beijing 100069, China

³Department of Orthopedics, Xuanwu Hospital Capital Medical University, Beijing 100053, China

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Figures & Tables(6)

Fig. 1. Framework for preoperative and intraoperative point clouds registration with cross-source and low overlapping based on farthest point sampling

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Fig. 2. Sampling points of lumbar point cloud and their corresponding local regions. (a) Distribution of sampling points; (b) local regions corresponding to the sampling points

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Fig. 3. Registration results of 001-L1, 001-L2, 002-L2, 002-L3, 003-L1, 004-L1, 005-L3, 006-L1, and 007-L1

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Table 1. Overlapping ratio and location difference between intraoperative and preoperative point clouds

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Table 1. Overlapping ratio and location difference between intraoperative and preoperative point clouds

Data	Exposed site	Overlapping ratio μ /%	Source	Rotation /（°）			Translation /mm
Data	Exposed site	Overlapping ratio μ /%	Source	X	Y	Z	X	Y	Z
001	L1	1.73	Ⅰ	99.35	46.63	86.79	74.86	-28.85	20.40
001	L2	1.69	Ⅰ	148.53	48.47	138.47	114.08	-64.99	-103.52
002	L2	1.97	Ⅰ	-87.05	-55.12	106.08	53.53	-47.08	29.48
002	L3	2.29	Ⅰ	109.48	28.19	79.30	-55.67	7.23	40.84
003	L1	1.35	Ⅱ	-76.59	68.13	-88.32	-98.28	-59.36	26.07
004	L1	2.69	Ⅱ	104.67	70.86	97.17	398.10	34.14	19.08
005	L3	1.80	Ⅱ	96.70	42.06	92.16	216.39	-44.52	76.20
006	L1	1.67	Ⅱ	96.94	22.41	82.55	-89.11	45.34	42.65
007	L1	1.66	Ⅱ	89.39	58.15	82.35	-57.78	-42.73	38.71

Table 2. Comparison of preoperative and intraoperative point clouds coarse/fine registration errors and running time

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Table 2. Comparison of preoperative and intraoperative point clouds coarse/fine registration errors and running time

Data	Exposed site	Registration algorithm	Coarse registration				Fine registration
Data	Exposed site	Registration algorithm	Matching pairs	e^r /（°）	e^r /mm	Time /s	Matching pairs	e^r /（°）	e^r /mm	Time /s
001	L1	FPFH+ICP^［15］	231	35.13	26.52	47.65	1134	0.33	0.38	0.43
		SHOT+ICP^［16］	100	19.97	21.54	55.70	1133	0.71	0.66	0.40
		FPS+FPFH+ICP	572	9.27	9.80	117.78	1126	0.34	0.32	0.06
001	L2	FPFH+ICP^［15］
		SHOT+ICP^［16］	105	36.45	43.43	58.97	901	0.59	0.78	0.69
		FPS+FPFH+ICP	266	14.81	9.81	92.30	992	0.45	0.32	0.07
002	L2	FPFH+ICP^［15］	185	17.62	25.73	43.76	921	0.93	1.21	0.32
		SHOT+ICP^［16］	106	44.21	64.30	52.16	915	0.64	0.85	0.56
		FPS+FPFH+ICP	486	4.07	4.76	103.74	743	0.34	0.43	0.06
002	L3	FPFH+ICP^［15］	202	8.78	9.86	44.42	1014	1.00	0.41	0.35
		SHOT+ICP^［16］
		FPS+FPFH+ICP	320	8.21	3.54	89.54	1142	0.25	0.85.	0.08
003	L1	FPFH+ICP^［15］	163	19.82	40.49	47.01	1683	0.45	0.99	0.54
		SHOT+ICP^［16］	150	20.62	35.22	64.90	1677	0.64	1.01	0.52
		FPS+FPFH+ICP	395	8.43	4.84	115.12	1293	0.83	0.44	0.06
004	L1	FPFH+ICP^［15］
		SHOT+ICP^［16］
		FPS+FPFH+ICP	228	7.75	17.82	79.01	990	0.31	0.47	0.05
005	L3	FPFH+ICP^［15］	311	25.54	67.23	45.56	1054	0.26	0.93	0.27
		SHOT+ICP^［16］	244	29.39	48.02	59.77	1049	0.39	1.54	0.61
		FPS+FPFH+ICP	814	5.54	11.86	95.63	920	0.37	0.64	0.04
006	L1	FPFH+ICP^［15］
		SHOT+ICP^［16］
		FPS+FPFH+ICP	540	4.12	8.51	113.54	818	0.59	0.60	0.07
007	L1	FPFH+ICP^［15］	952	2.71	1.16	43.25	1403	0.28	0.27	0.30
		SHOT+ICP^［16］	811	3.02	1.81	57.60	1407	0.43	0.58	0.31
		FPS+FPFH+ICP	994	2.79	3.00	108.34	1345	0.13	0.19	0.05

Table 3. Success rate comparison of preoperative and intraoperative point clouds registration
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Table 3. Success rate comparison of preoperative and intraoperative point clouds registration
Algorithm Number of registration samples Number of successfully registered samples Success rate /%
FPFH+ICP^［15］ 9 6 66.67
SHOT+ICP^［16］ 9 6 66.67
FPS+FPFH+ICP 9 9 100

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Lijing Zhang, Binbin Wang, Wei Wang, Bo Wu, Nan Zhang. Point Cloud Registration Algorithm with Cross-Source and Low Overlapping Ratio for Pedicle Screw Fixation[J]. Chinese Journal of Lasers, 2023, 50(9): 0907108

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Paper Information

Category: Biomedical Optical Imaging

Received: Feb. 22, 2023

Accepted: Mar. 3, 2023

Published Online: Apr. 24, 2023

The Author Email: Wu Bo (wubogo@ccmu.edu.cn)

DOI:10.3788/CJL230561

Topics

laser devices and laser physics

Lasers and Laser Optics

Laser physics

laser manufacturing

Instrumentation, Measurement and Metrology

Table 1. Overlapping ratio and location difference between intraoperative and preoperative point clouds

Table 1. Overlapping ratio and location difference between intraoperative and preoperative point clouds

Table 2. Comparison of preoperative and intraoperative point clouds coarse/fine registration errors and running time

Table 2. Comparison of preoperative and intraoperative point clouds coarse/fine registration errors and running time

Table 3. Success rate comparison of preoperative and intraoperative point clouds registration

Table 3. Success rate comparison of preoperative and intraoperative point clouds registration