Spatial Detection of the Shafts of Fractured Femur for Image-Guided Robotic Surgery.

Femur fractures due to traumatic forces often require surgical intervention. Such surgeries require alignment of the femur in the presence of large muscular forces up to 500 N. Currently, orthopedic surgeons perform this alignment manually before fixation, leading to extra soft tissue damage and inaccurate alignment. One of the limitations of femoral fracture surgery is the limited vision and two-dimensional nature of X-ray images, which typically guide the surgeon in diagnosing the position of the femur. Other limitations include the lack of precise intraoperative planning and the process of trial-and-error alignment. To alleviate the issues discussed, we develop a marker-based approach for detecting the position of femur fragments using two X-ray images. The relative spatial position of the femur fragments plays a key role in guiding an innovative robotic system, named Robossis, for femur fracture alignment surgeries. Using the derived three-dimensional data, we simulate pre-programmed movements to visualize the proposed steps of the alignment method, while the bone fragments are attached to the robot. Ultimately, Robossis aims to improve the accuracy of femur alignment, which results in improved patient outcomes.