Publication Date



Open access

Degree Type


Degree Name

Doctor of Philosophy (PHD)


Biomedical Engineering (Engineering)

Date of Defense


First Committee Member

Weizhao Zhao

Second Committee Member

Fabrice Manns

Third Committee Member

Sohyung Cho

Fourth Committee Member

Jorge Bohorquez

Fifth Committee Member

Ozcan Ozdamar

Sixth Committee Member

Lou Arata


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