Abstract
Registration is a key component for computer-navigated robot-assisted surgery. Invasive approaches such as fiducial-based and surface matching with mechanical probes are common but ultrasound may provide a non-invasive alternative. If an A-mode ultrasound transducer can be used to percutaneously select data points on the bones, a registration can be determined without needing any incision. This study investigates selecting an A-mode ultrasound transducer, calibrating it, analyzing the ultrasound signal, and using it to register a phantom sawbone tibia and femur as well as cadaveric specimens. This study is performed in conjunction with MAKO Surgical Corp.'s Tactile Guidance System™ (TGS™) at their headquarters and at The South Florida Spine Clinic for cadaveric experiments. The results for phantom and cadaveric ultrasound registrations compared to a mechanical probe approach demonstrate that A-mode ultrasound registration is a viable option for registration of the bones of the knee.