Real-time Joint Motion Analysis and Instrument Tracking for Robot-Assisted Orthopaedic Surgery

TL;DR

This paper introduces a novel optical tracking system and rigid body design for precise, real-time analysis of leg motion and instrument tracking in robot-assisted orthopaedic surgery, enhancing accuracy and automation.

Contribution

It presents a new tracking setup and kinematic modeling approach that achieves sub-millimeter accuracy for joint and instrument tracking in orthopaedic procedures.

Findings

Achieved 0.3mm accuracy in anatomical point measurement.

Validated tracking system with cadaveric experiments.

Enabled precise kinematic analysis of leg motion.

Abstract

Robotic-assisted orthopaedic surgeries demand accurate, automated leg manipulation for improved spatial accuracy to reduce iatrogenic damage. In this study, we propose novel rigid body designs and an optical tracking volume setup for tracking of the femur, tibia and surgical instruments. Anatomical points inside the leg are measured using Computed Tomography with an accuracy of 0.3mm. Combined with kinematic modelling, we can express these points relative to any frame and across joints to sub-millimetre accuracy. It enables the setup of vectors on the mechanical axes of the femur and tibia for kinematic analysis. Cadaveric experiments are used to verify the tracking of internal anatomies and joint motion analysis. The proposed integrated solution is a first step in the automation of leg manipulation and can be used as a ground-truth for future robot-assisted orthopaedic research.