TableOfContents

Target Outcome

Prerequisites

Infrastructure

For more details see ["Infrastructure/ExperimentationMechanics"].

Previous Protocols

For more details see ["Specifications/Specimens"].

For more details see ["Specifications/ExperimentationJointMechanics"].

For more details see ["Specifications/ExperimentationAnatomicalImaging"]

For more details see ["Specifications/SpecimenPreparation"].

Protocols

Overview

Registration of the knee includes three main steps:

1. Register imaged (MRI) anatomical landmarks to MRI compatible registration markers. See ["Specifications/ExperimentationAnatomicalImaging"]
2. Register robot-controlled clinical coordinate system to MRI compatible registration markers
   1. Register digitized anatomical landmarks on each bone with respect to an optoelectronic sensor rigidly mounted on each bone
   2. Register digitized MRI compatible registration markers on each bone with respect to an optoelectronic sensor rigidly mounted on each bone
3. Register robot-controlled clinical coordinate system with respect to imaged (MRI) anatomical landmarks

Coordinate System Definition

In order to perform proper registration, the following coordinate systems (CS) must be identified and defined:

1. Tibia
   1. Tibia MRI marker CS ["Specifications/ExperimentationJointMechanics"]
      • Consists of three spheres (positioned medial(S1), lateral (S2), posterior (S3))
      • Origin - S1
      • X-axis - unit vector S1 to S2
      • Z-axis - unit vector of X-axis cross vector of S1 to S3
      • Y-axis - Z-axis cross the X-axis
   2. Tibia digitized CS
2. Femur
   1. Femur MRI marker CS
      • Consists of three spheres (positioned anterior(S1), medial (S2), lateral (S3))
      • Origin - S1
      • X-axis - unit vector S1 to S2
      • Z-axis - unit vector of X-axis cross vector of S1 to S3
      • Y-axis - Z-axis cross the X-axis
   2. Femur digitized CS
3. Patella
   1. Patella MRI marker CS
   2. Patella digitized CS