A Computer Assisted Surgery System for Distal Locking of Intramedullary Nails, with Computer Vision and Robotic assistance

Abstract

Osteosynthesis materials are frequently used in orthopedic surgery to reduce femur and tibia fractures. Usually, an intramedullary nail is introduced by hand inside the bone, and fixed by transverse screws, passing through the bone cortical surface and the nail holes. Following this traditional method, distal locking and drilling of the intramedullary nail can be considered as a problematic intervention. Radiological instruments (fluoroscopes, TCs) are irreplaceable tools for the location and treatment of fractures. Those offer images in real time, and so the surgeon visualizes the surgical field on line. The main inconvenience of using this kind of devices is that surgical team is exposed to considerable doses of radiation, not only during the particular surgical intervention, but also in the work life of the surgeon. The system proposed in this article solves the above problems, combining computer vision techniques with radiological instruments, and using a robotic system for the execution of surgical tasks.