Intro

Arthroscopy is a modality of orthopeadic surgery for treatment of damaged joints in which instruments and endoscopic camera (the arthroscope) are inserted into the articular cavity through small incisions (the surgical ports). Arthroscopy is highly beneficial for the patient because it reduces trauma, risk of infection and recovery time. However, it is much more difficult to execute because of indirect visualization and limited manoeuvrability inside the joint, with novices having to undergo a long training period and experts often making mistakes of clinical consequences.

The VisArthro project aims to overcome these drawbacks by conducting research in computer vision techniques to build a system for Computer-Aided Arthroscopy (CAA). Such system will combine real-time video processing with augmented reality to guide the surgeon throughout the procedure, being the first of the kind not requiring additional intra-operative sensing modalities such as opto/magnetic tracking. Our research will be motivated by two specific procedures: the reconstruction of the Anterior Cruciate Ligament (ACL) in the knee and the removal of Femur Acetabular Impingements (FAI) in the hip.

News

13-March-2020	The technology developed under VisArthro was chosen by BoneZone as one of the ‘7 Digital Tools BoneZone Wanted to See at AAOS’
29-October-2019	Joao Barreto was keynote speaker in SIBGRAPI'2019 the 32nd Int. Conf on Graphics, Patterns and Images, that was organized by the Brazilian Association of Pattern Recognition with a talk entitled ‘Computer Vision for Computer-Aided Surgery'
22-October-2019	VisArthro team participates for the first time in the BOP Challenge with the 6D pose estimation algorithm developed for markerless navigation and ranks 6th
14-June-2019	Invited lecture in surgical navigation at the 32nd edition of PADIS organized by AESE Business School in Coimbra
21-May-2019	Joao Barreto was keynote speaker in the ‘Roving Seminar on Wipo Serices and Initiatives with INPI, OEPM and IINL’ where he spoke about the protection of IP in the video-based tracking for surgical navigation
12-March-2019	P3D exhibits a prototype of video-based navigation for open surgery at the American Academy of Orthopedic Surgeons (AAOS) in Las Vegas, USA
20-February-2019	Plenary talk by Dr. J.D. Werthel at the prestigious ‘Paris Shoulder Course’ entitled ‘Improving Accuracy of Glenoid Implantation using Augmented Reality’ that discusses the use of video-based tracking for shoulder procedures
03-December-2018	Invited lecture in surgical navigation at the 31st edition of PADIS organized by AESE Business School in Porto
20-November-2018	The Bartolomeu de Gusmão Award, an initiative of the Portuguese Ministry of Justice in collaboration with the Portuguese Institute of Industrial Property, awarded P3D with a merit prize in the ‘Innovative Startups’ category.
28-October-2018	VisArthro clinical team organizes a full day session of the Master Programme of EFORT Fellowship with an invited lecture by Joao P Barreto on Surgical Navigation Technologies
25-October-2018	Dr. Joao Oliveira talks about ‘Navigation and Robotics’ in SPOT Congress, ‘Congresso da Sociedade Portuguesa de Ortopedia e Traumatologia’
29-May-2018	Invited lecture in surgical navigation at the 31st edition of PADIS organized by AESE Business School in Porto.
06-March-2018	P3D exhibits a prototype of video-based navigation in arthroscopy at the American Academy of Orthopeadic Surgeons (AAOS) in New Orleans, USA.

Photo Gallery

Demos & Prototypes

Extending video-based tracking for navigation in open surgery: Demonstration in ‘ex-vivo’ of how the video-based tracking originally developed for navigation in arthroscopy can be used in open surgery to guide the surgeon during Total Knee Arthroplasty (TKA)

Surgical navigation in arthroscopic ACL reconstruction (cadaver lab): Experiment in ‘ex-vivo’ of surgical navigation for arthroscopic reconstruction of ACL in the knee.

Navigation in arthroscopic resection of FAI (sawbones): Experiment in dry model of resection of FAI using hip arthroscopy.

Functionalities of video-based Computer Aided Arthroscopy: Put a shorter version of the text that is already there.

Publications

International Journals

P. Rodrigues, J. P. Barreto, and M. Antunes, ‘Color reproduction and characterization of display monitors using a camera,’, Displays, Dec. 2019.
F. Vasconcelos, N. Simoes, and J. P. Barreto, “A minimal solution for the single plane calibration of a freehand 3D ultrasound”, ’ Computer Vision and Image Understanding, Jan. 2019.
P. M. C. Rodrigues, J. P. B. 0001, and M. Antunes, "Photometric camera characterization from a single image with invariance to light intensity and vignetting", Comput. Vis. Image Underst, 2020.
P. Rodrigues, M. Antunes, C. Raposo, P. Marques, F. Fonseca, and J. P. Barreto, "Deep segmentation leverages geometric pose estimation in computer-aided total knee arthroplasty", Healthc Technol Lett, vol. 6, no. 6, pp. 226–230, Dec. 2019.
C. Raposo, J. P. Barreto, C. Sousa, L. Ribeiro, R. Melo, J. P. Oliveira, P. Marques, F. Fonseca, and D. Barrett, "Video-based computer navigation in knee arthroscopy for patient-specific ACL reconstruction", Int J CARS, vol. 14, no. 9, pp. 1529–1539, Jun. 2019.
N. B. Monteiro, J. P. Barreto, and J. Gaspar, "Standard Plenoptic Cameras Mapping to Camera Arrays and Calibration based on DLT ", IEEE Trans. on Circuits and Systems for Video Technology, pp. 1–10, May 2019.

Premium Conferences

C. Raposo, J. P. Barreto, and D. Vaz “Accurate Reconstruction of Oriented 3D Points”, ECCV European Conf. in Computer Vision, pp. 1–15, 2020.
P Rodrigues, M Antunes, C Raposo, P Marques, F Fonseca, and JP Barreto, “Deep segmentation leverages geometric pose estimation in computer-aided total knee arthroplasty”, Joint Workshop MIAR-AECAI-CARE at MICCAI, Shenzen, China, 2019.
C. Raposo, C. Sousa, L. Ribeiro, R. Melo, F. Fonseca, J. Oliveira, P. Marques, and J. P. Barreto, “Video-based computer aided arthroscopy for patient specific reconstruction of the Anterior Cruciate Ligament”, JMICCAI'2018: Medical Image Computing and Computer-Assisted Intervention,Pt 2, 2018.
C. Raposo and J. P. Barreto, “3D Registration of Curves and Surfaces using Local Differential Information”, CVPR'2018: IEEE Int. Conf. on Computer Vision and Pattern Recognition, 2018.
M. Antunes, J. P. Barreto, D. Aouada and B. Ottersten, “Unsupervised Vanishing Point Detection and Camera Calibration from a Single Manhattan Image with Radial Distortion”, CVPR'2017: IEEE Int. Conf. on Computer Vision and Pattern Recognition, Hawaii, June 2017.
C. Raposo and J. P. Barreto, “Using 2 Point+Normal Sets for Fast Registration of Point Clouds with Small Overlap”, ICRA'2017: IEEE Int. Conf. on Robotics and Automation, Singapore, May 2017.
C. Raposo and J. P. Barreto, “PiMatch: Monocular vSLAM and Piecewise Planar Reconstruction using Fast Plane Correspondences”, ECCV'2016: European Conference in Computer Vision, Amsterdam, October 2016.
C. Raposo and J. P. Barreto, “Theory and Practice of Structure-from-Motion using Affine Correspondences”, CVPR'2016: IEEE Int. Conf. on Computer Vision and Pattern Recognition, Las Vegas, June 2016 (spotlight presentation).

PhD Thesis

C. Raposo, “Calibration, Structure-from-Motion and Registration Beyond Point Features", PhD Thesis submitted to the University of Coimbra in September, 2016 and defended in June, 2017.
P. Rodrigues "Color Reproduction and Augmented Reality for Video-Based Surgical Navigation", PhD Thesis in Electrical and Computer Engineering, University of Coimbra, 2020.

MsC Thesis

Inês Felix, “Deep Learning for Markerless Surgical Navigation in Orthopeadics",MsC Thesis in Biomedical Engineering, University of Coimbra 2020.
J. P. Ralho "Learning Single-View Plane Prediction from autonomous driving datasets", Master Thesis in Electrical and Computer Engineering, University of Coimbra , 2019.
J. P. Falcão "Surgical Navigation using an Optical See-through Head Mounted Display", Master Thesis in Electrical and Computer Engineering, University of Coimbra , 2019.
D. Vaz "VSLAM and 3D Reconstruction Using πMatch", Master Thesis in Electrical and Computer Engineering, University of Coimbra , 2017.

Technical Reports

D. Vaz "Estimation of Normals using Affine Correspondences", Internal technical report, December 2018.
Bruna Nogueira "iFast Detection of Fiducial Markers", Internal technical Report, July 2018.
R. Simões "Augmented Reality using Cylindrical Fiducials’,, Internal technical report, July 2018.
D Vaz, C Raposo and J P Barreto "Monocular vSLAM and Fast Piecewise Planar Reconstruction using πMatch", Internal technical report, 2018.
R. Simoes, C. Raposo, J. P. Barreto, P. Edwards, and D. Stoyanov "Visual Tracking vs Optical Tracking in Computer Aided Surgery,", Internal technical report, July 2018.

Intelectual Property

C. Raposo and J. P. Barreto 'Systems and Methods for 3D Registration of Curves and Surfaces using Local Differential Information,' Provisional Patent US,62471339, March 2017.
Joao P. Barreto 'Methods and Systems for Computer-Aided Surgery using Intra-Operative Video acquired by a Free-moving Camera,' PCT/US2016/024262, March 2016.

Team

The VisArthro consortium comprises three institutions: the Institute for Systems and Robotics (ISR-UC) that is affiliated with the University of Coimbra, the Perceive3D (P3D) that is a startup company operating in CAS, and the "Centro Hospitalar e Universitário de Coimbra" (CHUC) that is the clinical partner. The project also counts with the participation of the University College London (UCL) that advises and collaborates with the consortium.