Dynamic tracking of minimally invasive spine surgery robot

In order to exhibit the surgery instruments in intraoperative image, the tracking system must be introduced so that it may finally achieve the image guide surgery on minimally invasive spine surgery (MISS). To exhibit the tip of the instrument, the transform of the CARM(a device which generates X-ray images) and CT image, the transform of the world and CARM. The more transforms of different space happen, the more errors will be introduced into the system. This paper is focused on the surgery robot tracking problem, especially for the tracking of the position and posture of the surgery instruments. We introduce a method which could establish the robot model of the surgery and show the projection of the surgery instruments on intraoperative images which could help surgeon estimate the relative position of the surgery instrument and patient´s spine.