Reconstruction of three-dimensional lumbar vertebrae from biplanar x-rays

Objective. Vertebrae models from computer tomographic (CT) imaging are extensively used in image-guided surgical systems to deliver percutaneous orthopaedic operations with minimum risks, but patients may be exposed to excess radiation from the pre-operative CT scans. Generating vertebrae models from intra-operative x-rays for image-guided systems can reduce radiation exposure to the patient, and the surgeons can acquire the vertebrae’s relative positions during the operation; therefore, we proposed a lumbar vertebrae reconstruction method from biplanar x-rays. Approach. Non-stereo-corresponding vertebral landmarks on x-rays were identified as targets for deforming a set of template vertebrae; the deformation was formulated as a minimisation problem, and was solved using the augmented Lagrangian method. Mean surface errors between the models reconstructed using the proposed method and CT scans were measured to evaluate the reconstruction accuracy. Main results. The evaluation yielded mean errors of 1.27 mm and 1.50 mm in in vitro experiments on normal vertebrae and pathological vertebrae, respectively; the outcomes were comparable to other template-based methods. Significance. The proposed method is a viable alternative to provide digital lumbar to be used in image-guided systems, where the models can be used as a visual reference in surgical planning and image-guided applications in operations where the reconstruction error is within the allowable surgical error.