Conventional fluoroscopes are routinely used to analyze human skeletal joints during motions such as deep knee bends. Such diagnostics are used to characterize pre and post operative arthoplasty results, particularly in association with total joint replacement procedures. The pseudo-stationary conditions imposed by the fixed fluoroscope limit the diagnostic procedures to much less than natural skeletal motion and load conditions, thus diminishing the utility of the results. A new class of fluoroscopy has been developed in which a robotic mechanization is used to allow selected joints to be x-rayed while the human subjects perform natural motions such as walking. The tracking fluoroscope system (TFS) is essentially a mobile robot that can acquire real-time x-ray records of hip, knee, or ankle joint motion while the patient walks normally within a laboratory floor area. It is anticipated that the TFS will provide clearer and more representative x-ray images.

The robotic mechanization includes an untethered and omni-directional mobile platform that follows the patient as he/she walks, including negotiating stairs or ramps.

In addition to following the patient, additional control devices track the joint motions that occur relative to the patient’s body, e.g., knee joint vertical and anterior/posterior relative motion. The technical features of the TFS will be described, and test results related to the commissioning of the TFS for clinical trials will be presented. Initial clinical test results will be provided.