Robot-Assisted Distal Locking of Long Bone Intramedullary Nails: Localization, Registration, and In Vitro Experiments

  • Ziv Yaniv
  • Leo Joskowicz
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 3217)


We are developing an image-guided robot-based system to assist orthopaedic surgeons in performing distal locking of long bone intramedullary nails. The system consists of a bone-mounted miniature robot fitted with a drill guide that provides rigid mechanical guidance for hand-held drilling of the distal screws’ pilot holes. The robot is automatically positioned so that the drill guide and nail distal locking axes coincide using a single fronto-parallel fluoroscopic X-ray. This paper describes new methods for accurate and robust drill guide and nail hole localization and registration and reports the results of our in-vitro system accuracy experiments. Tests of 17 runs show a mean angular error of 1.3 o (std = 0.4 o ) between the computed drill guide axes and the actual locking holes axes, and a mean 3.0mm error (std = 1.1mm) in the entry and exit drill point, which is adequate for successfully locking the nail.


Angular Error Partial Occlusion Edge Element Distortion Correction Drill Guide 
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Copyright information

© Springer-Verlag Berlin Heidelberg 2004

Authors and Affiliations

  • Ziv Yaniv
    • 1
  • Leo Joskowicz
    • 1
  1. 1.School of Engineering and Computer ScienceThe Hebrew University of JerusalemJerusalemIsrael

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