The development of the Tracking Fluoroscope System

This paper presents the goals, issues and approach used in designing the Tracking Fluoroscope System (TFS). The TFS’ is a mobile platform equipped with an on-board fluoroscope system to perform real-time imaging of human joints in motion: ankles, knees and hips. In order to record the natural and uninterrupted joint motion, the person walks freely while being followed by the robot. It requires independent tracking of the position and orientation of the body with respect to the platform, as well as the position of the joints with respect to the trunk of the body. This paper presents the platform design results with respect to feasibility, performance and safety.