A multi-modality tracking, navigation and calibration for a flexible robotic drill system for total hip arthroplasty

BackgroundThis paper presents a novel multi-modality tracking and navigation system that provides a unique capability to guild a flexible drill tip inside the bone with accurate curved tunnelling. MethodsAs the flexible drill tip cannot be tracked optically inside the bone, this research focuses on developing a hybrid tracking and navigation system for tracking a flexible drill tip by using both optical and kinematic tracking. The tracking information is used to guide the THA (total hip arthroplasty) procedure, providing a real-time virtual model of the flexible drill. ResultsThe flexible and steerable drill tip system is then tested on total hip arthroplasty followed by evaluation of the positioning and orientation of femoral stem placement by femoral milling. ConclusionsBased on this study, we conclude that the tracking and navigation system is able to guide the flexible drill to mill inside femoral canal.