Validation of 3D-laser surface registration for image-guided cranio-maxillofacial surgery

Abstract

Image-data-based navigation plays an important role during surgical treatment in anatomically complex areas. Conventional patient-to-image registration techniques on the basis of skin and bone markers require expensive and time-consuming logistic support. A new markerless, high-resolution laser surface scan technique for patient registration has been tested in experimental and clinical settings. In a phantom study, a skull model was registered with laser scanning and marker-based algorithms. The registration procedure was repeated 25 times in each group. The values for the root mean-square error were calculated as a measure of the deviation of the forecast position from the actual position and the target difference. In a clinical setting, 21 consecutive patients who presented with cranio-maxillofacial disorders were scheduled for navigational surgery using laser surface scanning for patient-to-image registration. Here the accuracy was determined by anatomical landmark localization. In the experimental study, a root mean-square error of 1.3+/-0.14 mm, and a mean target deviation of 2.08+/-0.49 mm were found for laser scanning. In contrast, a root mean-square error of 0.38+/-0.01 mm and a mean target deviation of 0.99+/-0.15 mm were found for marker registration. The differences were statistically significant (p<0.005). A strong correlation between the root mean-square error and the target deviation was found for laser (r=0.96) and marker registration (r=0.95). During the 21 clinical procedures, the overall accuracy of laser scan registration determined by the root mean-square error was 1.21+/-0.34 mm, and the mean clinical precision was 1.8+/-0.5 mm. Three-dimensional laser surface registration offers an interesting approach for selected image-guided procedures in cranio-maxillofacial surgery.