A Generalized Full-to-Partial Registration Framework of 3D Point Sets for Computer-Aided Orthopedic Surgery

Objective: The precise alignment of full and partial 3D point sets is a crucial technique in computer-aided orthopedic surgery, but remains a significant challenge. This registration process is complicated by the partial overlap between the full and partial 3D point sets, as well as the susceptibility of 3D point sets to noise interference and poor initialization conditions. Methods: To address these issues, we propose a novel full-to-partial registration framework for computer-aided orthopedic surgery that utilizes reinforcement learning. Our proposed framework is both generalized and robust, effectively handling the challenges of noise, poor initialization, and partial overlap. Moreover, this framework demonstrates exceptional generalization capabilities for various bones, including the pelvis, femurs, and tibias. Results: Extensive experimentation on several bone datasets has demonstrated that the proposed method achieves a superior C.D. error of 8.211 e-05 and our method consistently outperforms state-of-the-art registration techniques. Conclusion and significance: Hence, our proposed method is capable of achieving precise bone alignments for computer-aided orthopedic surgery.