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° (std = 0.4°) 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.
|Original language||American English|
|Number of pages||8|
|Journal||Lecture Notes in Computer Science|
|Issue number||1 PART 2|
|State||Published - 2004|
|Event||Medical Image Computing and Computer-Assisted Intervention, MICCAI 2004 - 7th International Conference, Proceedings - Saint-Malo, France|
Duration: 26 Sep 2004 → 29 Sep 2004