A novel rotation invariant and Manhattan metric–based pose refinement: Augmented reality–based oral and maxillofacial surgery

Mucahit Bayrak, Abeer Alsadoon, P. W.C. Prasad, Haritha Sallepalli Venkata, Rasha S. Ali, Sami Haddad

Research output: Contribution to journalArticle


Background: Augmented reality (AR) is gaining attention in medicine because of the convenience and innovation that it brings to operating rooms. Furthermore, oral and maxillofacial surgery (OMS), which is one of sensitive and narrow spatial surgery, requires high accuracy in image registration and low processing time of the system. However, the current systems are suffering from image registration problems while matching two different posture images. We thus aimed to increase that overlay accuracy and decrease the processing time. Methodology: The proposed system consists of an Iterative Closest Point (ICP) algorithm, which is the combination of a rotation invariant and Manhattan error metric, to provide the best initial parameters and to decrease the computational cost by sorting high and low processing pixel images, respectively. Result: The study on maxillary and mandibular jaw bone demonstrates that the proposed work overlay accuracy ranges from 0.22 to 0.30 mm, and processing time ranges from 10 to 14 frames per second as opposed to the 0.23- to 0.35-mm overlay accuracy and the current 8 to 12 frames per second processing time. Conclusion: This research aimed to improve the visualization and fast AR system for the OMS. Thus, the proposed system achieved an improvement in overlay accuracy and processing time by implementing the Rotation Invariant and Manhattan error metric ICP algorithm.

Original languageEnglish
JournalInternational Journal of Medical Robotics and Computer Assisted Surgery
Publication statusE-pub ahead of print - 14 Jan 2020


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