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

Background: This 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.

Methods: As 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.

Results: The 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.

Conclusions: Based on this study, we conclude that the tracking and navigation system is able to guide the flexible drill to mill inside femoral canal.