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...
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Gespeichert in:

Autor*in:	Mario Strydom [verfasserIn] Artur Banach [verfasserIn] Liao Wu [verfasserIn] Anjali Jaiprakash [verfasserIn] Ross Crawford [verfasserIn] Jonathan Roberts [verfasserIn]

Format:	E-Artikel
Sprache:	Englisch

Erschienen:	2020

Schlagwörter:	Joint pose analysis medical robotics inverse kinematics anatomical measurement measurement uncertainty

Übergeordnetes Werk:	In: IEEE Access - IEEE, 2014, 8(2020), Seite 118510-118524
Übergeordnetes Werk:	volume:8 ; year:2020 ; pages:118510-118524

Links:	Link aufrufen Link aufrufen Link aufrufen Journal toc

DOI / URN:	10.1109/ACCESS.2020.3002541

Katalog-ID:	DOAJ069812268

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source	In IEEE Access 8(2020), Seite 118510-118524 volume:8 year:2020 pages:118510-118524
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topic_facet	Joint pose analysis medical robotics inverse kinematics anatomical measurement measurement uncertainty Electrical engineering. Electronics. Nuclear engineering
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callnumber-first	T - Technology
author	Mario Strydom
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topic_title	TK1-9971 Anatomical Joint Measurement With Application to Medical Robotics Joint pose analysis medical robotics inverse kinematics anatomical measurement measurement uncertainty
topic	misc TK1-9971 misc Joint pose analysis misc medical robotics misc inverse kinematics misc anatomical measurement misc measurement uncertainty misc Electrical engineering. Electronics. Nuclear engineering
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title	Anatomical Joint Measurement With Application to Medical Robotics
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abstract	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.
abstractGer	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.
abstract_unstemmed	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.
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title_short	Anatomical Joint Measurement With Application to Medical Robotics
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Anatomical Joint Measurement With Application to Medical Robotics

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