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Robotic-assisted orthopaedic surgeries demand accurate, automated legmanipulation for improved spatial accuracy to reduce iatrogenic damage. In thisstudy, we propose novel rigid body designs and an optical tracking volume setupfor tracking of the femur, tibia and surgical instruments. Anatomical pointsinside the leg are measured using Computed Tomography with an accuracy of0.3mm. Combined with kinematic modelling, we can express these points relativeto any frame and across joints to sub-millimetre accuracy. It enables the setupof vectors on the mechanical axes of the femur and tibia for kinematicanalysis. Cadaveric experiments are used to verify the tracking of internalanatomies and joint motion analysis. The proposed integrated solution is afirst step in the automation of leg manipulation and can be used as aground-truth for future robot-assisted orthopaedic research.

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