BONE.P.A.R.T.E. (Bone Precision Augmented Reality Tracking Equipment)

This repository houses the core infrastructure for BONE.P.A.R.T.E., a surgical robotics system focused on enhancing orthopedic procedures using robotic manipulation, real-time perception, and augmented reality guidance.

Project Overview

BONE.P.A.R.T.E. is designed to assist surgeons during pin placement precision task in an orthopedic surgery. The system combines:

• Real-time pose estimation of surgical targets (e.g., bones, guides)
• Robotic planning and manipulation to align tools with target poses
• Augmented reality interfaces for intuitive visualization and intra-op feedback

Our goals are higher surgical accuracy, reduced operating time, and better outcomes through automation and AR integration.

Repository Structure

Boneparte/ ├── Build/ (After colcon build) ├── Install/ (After colcon build) ├── Logs/ (After colcon build) ├── Docker/ ├── src/ │ ├── perception/ # Subsystem for detecting and tracking surgical targets │ ├── AVP/ # Apple Vision Pro subsystem │ └── manipulation/ # Robot control for tool alignment and interaction ├── README.md
└── LICENSE

Each subdirectory under src/ contains its own README.md for deeper technical details.

Setup Instructions

Can be found inside the src folder └──src/README.md

Contributors

• Sreeharsha Paruchuri
• Parth Singh
• Daksh Adhar

Sponsors

Developed as part of the CMU MRSD Capstone with support from Smith + Nephew

License