title: Registration and immobilization in robot-assisted surgery.
abstract: Robotic systems for computer-assisted surgery involve both tools and techniques that are new to the surgical arena. Registration and immobilization in particular are key problems. Registration is the spatial alignment of the coordinate frames of the robot, an anatomic object (e.g., a bone), and the preoperative plan (a computer model). Immobilization is necessary to maintain that alignment. We discuss various approaches to registration and immobilization and solutions appropriate for an orthopedic surgical system.
authors.affiliation: Department of Mechanical Engineering, Northwestern University, Evanston, IL 60208, USA. jonlea@nwu.edu
authors.forename: J T
authors.initials: JT
authors.lastname: Lea
authors.forename: D
authors.initials: D
authors.lastname: Watkins
authors.forename: A
authors.initials: A
authors.lastname: Mills
authors.forename: M A
authors.initials: MA
authors.lastname: Peshkin
authors.forename: T C
authors.initials: TC
authors.lastname: Kienzle
authors.forename: S D
authors.initials: SD
authors.lastname: Stulberg
mesh_terms: D000843:Ankle Joint; D003198:Computer Simulation; D006621:Hip Joint; D006801:Humans; D007103:Immobilization; D066298:In Vitro Techniques; D012371:Robotics; D013514:Surgical Procedures, Operative; D013813:Therapy, Computer-Assisted