Geodesic
Geometric Problems in Computerized Preoperational Planning of a Robot Assisted Total Knee Replacement
Journal for geometry and graphics, Tome 1 (1997) no. 1, pp. 041-05.

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A computer graphics system is developed enabling the surgeon to pre-plan a total knee replacement. A series of geometric problems had to be solved in order to introduce a device independent set of coordinates serving the pre-planning as well as the robot that will assist the surgeon. A special efficient algorithm is used for interactive planning and the improvement of the performance of bone cuts. 
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     author = {O. Tebeleva and G. Elber and Y. Charit and M. Roffman},
     title = {Geometric {Problems} in {Computerized} {Preoperational} {Planning} of a {Robot} {Assisted} {Total} {Knee} {Replacement}},
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O. Tebeleva; G. Elber; Y. Charit; M. Roffman. Geometric Problems in Computerized Preoperational Planning of a Robot Assisted Total Knee Replacement. Journal for geometry and graphics, Tome 1 (1997) no. 1, pp. 041-05. http://geodesic.mathdoc.fr/item/JGG_1997_1_1_a5/