At this time the developed ultrasound based navigation system is capable to perform: 

    - 2D ultrasound based bone tracking, 

    - visualization of 3D bone point clouds, 

    - global registration of intra-operative to pre-operative bone point clouds,

- Novel algorithms were developed based on the ROS/OROCOS/PCL open source software tools, in the previous 3 modules of the software.

- The results obtained produced the paper "On the development and simulation of a Robotic Ultrasound Guided System for Orthopedic Surgical Procedures", which was submitted to the conference Robotica2013.

- The 2D ultrasound based bone tracking module has a mean error of 1.4 mm.

- The registration modules have a mean error of 1.27 mm and 1.63 mm for the initial calibration and the intra-operative registration, respectively.

- A simulation setup for the overall system is under development for the MORSE simulator.

- First steps towards an ontology for the Orthopedic Surgery domain were submitted to Robotics and Autonomous Systems journal "Ontology Applications and Standards in Service Robotics", a joint work with the IEEE Standard for Ontologies for Robotics and Automation, working group.

The robotic system setup is shown in the figure below. The robotic arm may be co-manipulated or tele-manipulated in order to correctly position the drill over the femural head in the simulator.