Introduction
Object | Head anatomy | Image generation | Annotation | Dataset size | |
---|---|---|---|---|---|
Dataset A | Screw | 3 CT scans | Synthetic (DRR) | Geometric | 18 k images |
Dataset B | Drill robot | 3 CT scans | Synthetic (DRR) | Geometric | \({2}\times {18}\) k images |
Dataset C | Screw | Phantom | Real (c-arm) | Manual | 540 images |
Related work
Datasets
Dataset A: synthetic
Anatomy and fiducial
Method for radiograph generation
Parameters of generation
Dataset B: surgical tools
Drill
Prototype robot
Dataset C: real X-rays
Preparation
Image acquisition
Manual annotation
Methods
Problem definition
Appearance normalization
Pseudo-landmark prediction
Pose reconstruction
Experiments and results
Common experimental setup
Training
Testing
Metrics
In-plane components
Out-of-plane components
Dataset A | Dataset B | Dataset C | |
---|---|---|---|
Position error (mm) | \(0.024 \pm 0.016\) | \(0.029 \pm 0.028\) | \(0.746 \pm 0.818\) |
Position error (px) | \(0.178 \pm 0.118\) | \(0.201 \pm 0.178\) | \(2.79 \pm 2.89\) |
Forward angle error (\(^\circ \)) | \(-\,0.024 \pm 1.215\) | \(0.075 \pm 1.082\) | \(6.59 \pm 10.36\) |
Depth error (mm) | \(1.010 \pm 9.314\) | \(0.407 \pm 7.420\) | N/A |
Projection angle error (\(^\circ \)) | \(1.717 \pm 2.183\) | \(1.559 \pm 2.130\) | N/A |