Minimally invasive 3D data registration in computer and robot assisted total knee arthroplasty

P. F. La Palombara, M. Fadda, S. Martelli, M. Marcacci

Research output: Contribution to journalArticlepeer-review


Computer and robot assisted surgery is concerned with the improvements achievable by using computer methods and robotic devices to plan and execute surgical interventions. The registration of different coordinate frames, often achieved through the matching of 3D data sets, represents a crucial step connecting planning and execution. Orthopaedic surgery already features a number of functioning applications which include registration routines relying on presurgically implanted fiducial markers. Replacing such invasive routines with non-fiducial registration procedures is regarded as a necessary step towards a minimisation of surgical invasiveness. A minimally invasive registration technique based on the iterative closest point algorithm is presented and conceived for a specific computer and robot assisted orthopaedic reconstructive intervention, namely total knee arthroplasty. The whole surgical protocol is examined in detail and the experimental results, relative to tests performed on synthetic and animal specimens, are thoroughly reported and discussed. The authors indicate that the proposed registration approach is well-suited for the relevant application and appropriate for in vivo testing.

Original languageEnglish
Pages (from-to)600-610
Number of pages11
JournalMedical and Biological Engineering and Computing
Issue number6
Publication statusPublished - Nov 1997


  • Computer assisted surgery
  • Iterative closest point
  • Joint replacement
  • Registration
  • Total knee arthroplasty

ASJC Scopus subject areas

  • Health Information Management
  • Health Informatics
  • Biomedical Engineering
  • Computer Science Applications
  • Computational Theory and Mathematics


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