Facial recognition techniques applied to the automated registration of patients in the emergency treatment of head injuries

This paper describes the development of a registration framework for image-guided solutions to the automation of certain routine neurosurgical procedures. The registration process aligns the pose of the patient in the preoperative space to that of the intraoperative space. Computerized tomography images are used in the preoperative (planning) stage, whilst white light (TV camera) images are used to capture the intraoperative pose. Craniofacial landmarks, rather than artificial markers, are used as the registration basis for the alignment. To create further synergy between the user and the image-guided system, automated methods for extraction of these landmarks have been developed. The results obtained from the application of a polynomial neural network classifier based on Gabor features for the detection and localization of the selected craniofacial landmarks, namely the ear tragus and eye corners in the white light modality are presented. The robustness of the classifier to variations in intensity and noise is analysed. The results show that such a classifier gives good performance for the extraction of craniofacial landmarks.

Energy-absorbing car seat designs for reducing whiplash

OBJECTIVES

This study presents an investigation of anti-whiplash features that can be implemented in a car seat to reduce whiplash injuries in the case of a rear impact. The main emphasis is on achieving a seat design with good energy absorption properties.

METHODS

A biofidelic 50th percentile male multi-body human model for rear impact is developed to evaluate the performance of car seat design concepts. The model is validated using the responses of 7 volunteers from the Japanese Automobile Research Institute (JARI) sled tests, which were performed at an impact speed of 8 kph with a rigid seat and without head restraint and seatbelt. A generic multi-body car seat model is also developed to implement various seatback and recliner properties, anti-whiplash devices, and head restraints. Using the same driving posture and the rigid seat in the JARI sled tests as the basic configuration, several anti-whiplash seats are designed to allow different types of motion for the seatback and seat-pan.

RESULTS

The anti-whiplash car seat design concepts limit neck internal motion successfully until the head-to-head restraint contact occurs and they exhibit low NIC(max) values (7 m(2)/s(2) on average). They are also effective in reducing neck compression forces and T1 forward accelerations. In principle, these car seat design concepts employ controlled recliner rotation and seat-pan displacement to limit the formation of S-shape. This is accomplished by using anti-whiplash devices that absorb the crash energy in such a way that an optimum protection is provided at different severities.

CONCLUSIONS

The results indicate that the energy absorbing car seat design concepts all demonstrate good whiplash-reducing performances at the IIWPG standard pulse. Especially in higher severity rear impacts, two of the car seat design concepts reduce the ramping of the occupant considerably.

Automated surgical screwdriver: Automated screw placement

The use of power screwdrivers and drills for tapping and screw insertion in surgery is becoming more common. It has been established from clinical observations that the use of a small air drill for inserting self-tapping screws provides improved coaxial alignment and precision, and that the drill should be stopped before the screw head is completely seated on the plate, presumably to reduce the risk of over-tightening. The risk of overrun and over-tightening during tapping and screw insertion is increased with the use of power tools. Prevention of over-tightening is dependent upon when the surgeon detects the onset of tightening, both visually and from the feel of the rapid increase in torque. If detection is too late, then over-tightening or stripping can occur. This study is concerned with using a mechatronic screwdriver to control the tapping depth and to prevent the over-tightening of screws. The effects of various parameters upon the torque profile during tapping and screw insertion have been investigated in synthetic bone and sheep tibia. An automated system is proposed for preventing over-tightening of pre-tapped and self-tapping screws when attaching a surgical plate to a sheep tibia in vitro. The system was used to attach a plate to a sheep tibia using self-tapping screws. The mean torque of the screws inserted using the automated system was 35 per cent of the stripping torque.

X-ray-based machine vision system for distal locking of intramedullary nails

In surgical procedures for femoral shaft fracture treatment, current techniques for locking the distal end of intramedullary nails, using two screws, rely heavily on the use of two-dimensional X-ray images to guide three-dimensional bone drilling processes. Therefore, a large number of X-ray images are required, as the surgeon uses his/her skills and experience to locate the distal hole axes on the intramedullary nail. The long-term effects of X-ray radiation and their relation to different types of cancer still remain uncertain. Therefore, there is a need to develop a surgical technique that can limit the use of X-rays during the distal locking procedure. A robotic-assisted orthopaedic surgery system has been developed at Loughborough University to assist orthopaedic surgeons by reducing the irradiation involved in such operations. The system simplifies the current approach as it uses only two near-orthogonal X-ray images to determine the drilling trajectory of the distal locking holes, thereby considerably reducing irradiation to both the surgeon and patient. Furthermore, the system uses robust machine vision features to reduce the surgeon's interaction with the system, thus reducing the overall operating time. Laboratory test results have shown that the proposed system is very robust in the presence of variable noise and contrast in the X-ray images.

Evaluation of bone strength: correlation between measurements of bone mineral density and drilling force

Bone drilling is a major part of modern orthopaedic surgery which involves the internal fixation of fractured bones. The investigation of bone drilling described in this paper demonstrates the contribution of automation technology towards the study of bone strength. The aim of this preliminary investigation is to establish a relationship between bone drilling forces and measurements of bone mineral density (BMD) by dual energy X-ray absorptiometry (DXA). A linear relationship with a high coefficient of correlation has been found between average drilling forces and BMD measurements at both the greater trochanter and the femoral head of porcine femurs when drilling in the anterior-posterior (AP) direction (i.e. the direction of the DXA scan). It has also been found that in the normal drilling direction (i.e. in the cervical axis direction), which is orthogonal to the DXA scanning direction, there are similar trends between the drilling forces and BMD levels in regions where bone density is more consistent (e.g. the femoral head). The findings of this investigation indicate that analysis of bone drilling forces has the potential to provide useful information about the strength of bone.

Computer and robotic assisted osteotomy around the knee

The outcome variability and failures of conventional osteotomy have been attributed to lack of preoperative planning and inaccuracy in performing the correction. We present a computer and robotic assisted surgery system that can aid in accurate surgical planning for realignment, and in precisely implementing the plan in theatre. The approach seeks to avoid the cost and risks associated with the use of CT, and the insertion of fiducial markers, which are characteristic of existing computer assisted surgical systems. The paper details the architecture of the system as a whole, placing particular emphasis on planning technique. It is anticipated that the increased accuracy possible with the system will prove particularly useful for correcting multi-plane deformities, which are more problematic with conventional techniques.

Robotic-assisted internal fixation of hip fractures: a fluoroscopy-based intraoperative registration technique

The internal fixation of proximal femoral (hip) fractures is the most frequently performed orthopaedic surgery procedure. When using a sliding compression hip screw, a commonly used fixation device, accurate positioning of the device within the femoral neck-head is achieved by initially drilling a pilot hole. A cannulated component of the hip screw is then inserted over the guide wire (surgical drill bit), which is used to drill the pilot hole. However, in practice, this fluoroscopically controlled drilling process is severely complicated by a depth perception problem and, as such, a surgeon can require several attempts to achieve a satisfactory guide wire placement. A prototype robotic-assisted orthopaedic surgery system has therefore been developed, with a view to achieving accurate right-first-time guide wire insertions. This paper describes the non-invasive digital X-ray photogrammetry-based registration technique which supports the proposed robotic-assisted drilling scenario. Results from preliminary laboratory (in vitro) trials employing this registration technique indicate that the cumulative error associated with the entire X-ray guided robotic system is within acceptable limits for the guide wire insertion process.

Drilling of bone: a robust automatic method for the detection of drill bit break-through

The aim of this investigation is to devise a robust detection method for drill bit break-through when drilling into long bones using an automated drilling system that is associated with mechatronic assisted surgery. This investigation looks into the effects of system compliance and inherent drilling force fluctuation on the profiles of drilling force, drilling force, drilling between successive samples and drill bit rotational speed. It is shown that these effects have significant influences on the bone drilling related profiles and thus on the detection of drill bit break-through. A robust method, based on a Kalman filter, has been proposed. Using a modified Kalman filter, it is possible to convert the profiles of drilling force difference between successive samples and/or the drill bit rotational speed into easily recognizable and more consistent profiles, allowing a robust and repeatable detection of drill bit break-through.

Robotic-assisted internal fixation of femoral fractures

Closed surgical techniques for the internal fixation of femoral fractures require orthopaedic surgeons to work in close proximity to X-rays. In addition to the occupational health risk this imposes, inexperienced surgeons often encounter great difficulty in achieving optimal positioning of fracture repair fixtures. A vision-guided robotic system has been proposed as a possible solution to these problems and an initial investigation involving two exemplar orthopaedic procedures has been undertaken. Robotic surgery assistance imposes rigorous safety-related design constraints, since the orthopaedic robot must operate in close proximity to the patient and operating staff. The design and implementation of a purpose-built robotic system for orthopaedic surgery assistance is described in this paper.