  Robotic-assisted orthopaedic surgeries demand accurate, automated leg
manipulation for improved spatial accuracy to reduce iatrogenic damage. In this
study, we propose novel rigid body designs and an optical tracking volume setup
for tracking of the femur, tibia and surgical instruments. Anatomical points
inside the leg are measured using Computed Tomography with an accuracy of
0.3mm. Combined with kinematic modelling, we can express these points relative
to any frame and across joints to sub-millimetre accuracy. It enables the setup
of vectors on the mechanical axes of the femur and tibia for kinematic
analysis. Cadaveric experiments are used to verify the tracking of internal
anatomies and joint motion analysis. The proposed integrated solution is a
first step in the automation of leg manipulation and can be used as a
ground-truth for future robot-assisted orthopaedic research.
