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\begin{document}

\title{Proof-of-concept of a robotic-driven photogrammetric scanner for
intra-operative knee cartilage repair}



\author[1]{Álvaro Bertelsen}%
\author[1]{Amaia Iribar-Zabala}%
\author[1]{Ekiñe Otegi-Alvaro}%
\author[1]{Rafael Benito}%
\author[1]{Karen López-Linares}%
\author[1]{Iván Macía}%
\affil[1]{Vicomtech Foundation, Basque Research and Technology Alliance (BRTA)}%


\vspace{-1em}



  
  \date{May 25, 2024}


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\begin{abstract}
This work present a proof-of-concept of a robotic-driven intra-operative
scanner designed for knee cartilage lesion repair, part of a system for
direct in vivo bioprinting. The proposed system is based on a
photogrammetric pipeline, which reconstructs the cartilage and lesion
surfaces from sets of photographs acquired by a robotic-handled
endoscope, and produces 3D grafts for further printing path planning. A
validation on a synthetic phantom is presented, showing that ---despite
the cartilage smooth and featureless surface--- the current prototype
can accurately reconstruct osteochondral lesions and their surroundings
with mean error values of 0.199 \selectlanguage{ngerman}± 0.096 mm but with noticeable
concentration on areas with poor lighting or low photographic coverage.
The system can also accurately generate grafts for bioprinting, although
with a slight tendency to underestimate the actual lesion sizes,
producing grafts with coverage errors of -12.2 ± 3.7, -7.9 ± 4.9 and
-15.2 ± 3.4 \% for the medio-lateral, antero-posterior and craneo-caudal
directions respectively. Improvements in lighting and acquisition for
enhancing reconstruction accuracy are planned as future work, as well as
integration into a complete bioprinting pipeline and validation with ex
vivo phantoms.%
\end{abstract}\selectlanguage{ngerman}%



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\textbf{Hosted file}

\verb`AECAI2023_id06_paper_v6.docx`  available at \url{https://authorea.com/users/694706/articles/683665-proof-of-concept-of-a-robotic-driven-photogrammetric-scanner-for-intra-operative-knee-cartilage-repair}\selectlanguage{english}
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