Anatomical Joint Measurement With Application to Medical Robotics
Robotic-assisted orthopaedic procedures demand accurate spatial joint measurements. Tracking of human joint motion is challenging in many applications, such as in sport motion analyses. In orthopaedic surgery, these challenges are even more prevalent, where small errors may cause iatrogenic damage i...
| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
IEEE
2020-01-01
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| Series: | IEEE Access |
| Subjects: | |
| Online Access: | https://ieeexplore.ieee.org/document/9117139/ |
| _version_ | 1818879952301326336 |
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| author | Mario Strydom Artur Banach Liao Wu Anjali Jaiprakash Ross Crawford Jonathan Roberts |
| author_facet | Mario Strydom Artur Banach Liao Wu Anjali Jaiprakash Ross Crawford Jonathan Roberts |
| author_sort | Mario Strydom |
| collection | DOAJ |
| description | Robotic-assisted orthopaedic procedures demand accurate spatial joint measurements. Tracking of human joint motion is challenging in many applications, such as in sport motion analyses. In orthopaedic surgery, these challenges are even more prevalent, where small errors may cause iatrogenic damage in patients - highlighting the need for robust and precise joint and instrument tracking methods. In this study, we present a novel kinematic modelling approach to track any anatomical points on the femur and / or tibia by exploiting optical tracking measurements combined with a priori computed tomography information. The framework supports simultaneous tracking of anatomical positions, from which we calculate the pose of the leg (joint angles and translations of both the hip and knee joints) and of each of the surgical instruments. Experimental validation on cadaveric data shows that our method is capable of measuring these anatomical regions with sub-millimetre accuracy, with a maximum joint angle uncertainty of ±0.47°. This study is a fundamental step in robotic orthopaedic research, which can be used as a ground-truth for future research such as automating leg manipulation in orthopaedic procedures. |
| first_indexed | 2024-12-19T14:38:15Z |
| format | Article |
| id | doaj.art-301ee26105b84667a101bfdc34695bb7 |
| institution | Directory Open Access Journal |
| issn | 2169-3536 |
| language | English |
| last_indexed | 2024-12-19T14:38:15Z |
| publishDate | 2020-01-01 |
| publisher | IEEE |
| record_format | Article |
| series | IEEE Access |
| spelling | doaj.art-301ee26105b84667a101bfdc34695bb72022-12-21T20:17:10ZengIEEEIEEE Access2169-35362020-01-01811851011852410.1109/ACCESS.2020.30025419117139Anatomical Joint Measurement With Application to Medical RoboticsMario Strydom0https://orcid.org/0000-0003-2671-2324Artur Banach1Liao Wu2Anjali Jaiprakash3Ross Crawford4Jonathan Roberts5Australian Centre for Robotic Vision, Brisbane, QLD, AustraliaQueensland University of Technology, Brisbane, QLD, AustraliaSchool of Mechanical and Manufacturing Engineering, University of New South Wales at Sydney, Sydney, NSW, AustraliaAustralian Centre for Robotic Vision, Brisbane, QLD, AustraliaAustralian Centre for Robotic Vision, Brisbane, QLD, AustraliaAustralian Centre for Robotic Vision, Brisbane, QLD, AustraliaRobotic-assisted orthopaedic procedures demand accurate spatial joint measurements. Tracking of human joint motion is challenging in many applications, such as in sport motion analyses. In orthopaedic surgery, these challenges are even more prevalent, where small errors may cause iatrogenic damage in patients - highlighting the need for robust and precise joint and instrument tracking methods. In this study, we present a novel kinematic modelling approach to track any anatomical points on the femur and / or tibia by exploiting optical tracking measurements combined with a priori computed tomography information. The framework supports simultaneous tracking of anatomical positions, from which we calculate the pose of the leg (joint angles and translations of both the hip and knee joints) and of each of the surgical instruments. Experimental validation on cadaveric data shows that our method is capable of measuring these anatomical regions with sub-millimetre accuracy, with a maximum joint angle uncertainty of ±0.47°. This study is a fundamental step in robotic orthopaedic research, which can be used as a ground-truth for future research such as automating leg manipulation in orthopaedic procedures.https://ieeexplore.ieee.org/document/9117139/Joint pose analysismedical roboticsinverse kinematicsanatomical measurementmeasurement uncertainty |
| spellingShingle | Mario Strydom Artur Banach Liao Wu Anjali Jaiprakash Ross Crawford Jonathan Roberts Anatomical Joint Measurement With Application to Medical Robotics IEEE Access Joint pose analysis medical robotics inverse kinematics anatomical measurement measurement uncertainty |
| title | Anatomical Joint Measurement With Application to Medical Robotics |
| title_full | Anatomical Joint Measurement With Application to Medical Robotics |
| title_fullStr | Anatomical Joint Measurement With Application to Medical Robotics |
| title_full_unstemmed | Anatomical Joint Measurement With Application to Medical Robotics |
| title_short | Anatomical Joint Measurement With Application to Medical Robotics |
| title_sort | anatomical joint measurement with application to medical robotics |
| topic | Joint pose analysis medical robotics inverse kinematics anatomical measurement measurement uncertainty |
| url | https://ieeexplore.ieee.org/document/9117139/ |
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