Abstract

A generally applicable registration method for orthopaedic internal fixation in conjunction with robotic-assisted intervention is presented. The method uses partial impression material of the bone surface to obtain partial molds. Computed Tomography (CT) scans of the bone surface are obtained. Computed Tomography scans of the mold is also obtained. Both CT scans are digitized and entered into a computer-aided engineering system. Meshing of the two models is accomplished using a computational surface matching algorithm. The matching yields the identification of bone surface coordinates with respect to the partial mold. The identification of the mold with respect to the robot base coordinate system is accomplished by manipulating the robot arm to be inserted into a fixture secured to the partial mold. The joint coordinates are then used to compute the direct kinematics of the manipulator therefore, identifying a coordinate system associated with the fixture.

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