Publication Date



Open access

Degree Type


Degree Name

Doctor of Philosophy (PHD)


Biomedical Engineering (Engineering)

Date of Defense


First Committee Member

Weizhao Zhao - Committee Chair

Second Committee Member

Fabrice Manns - Committee Member

Third Committee Member

Sohyung Cho - Committee Member

Fourth Committee Member

Jorge Bohorquez - Committee Member

Fifth Committee Member

Ozcan Ozdamar - Committee Member

Sixth Committee Member

Lou Arata - Outside Committee Member


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.


Segmentation; CT; Transform; Matrix