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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)

Abstract

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.

Keywords

Angular Error Partial Occlusion Edge Element Distortion Correction Drill Guide 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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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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