Method for performing an
ankle arthroplasty using a computer-assisted
surgery system and an
electromagnetic tracking system comprising at least a talar tracker, a tibial tracker and at least one surgical tool tracker, the method comprising:fixing the talar tracker, the tibial tracker and the surgical tool tracker, respectively, to a talus of the patient's leg, to a
tibia of the patient's leg and to the surgical tool, to determine relative poses of the talus, the
tibia and the surgical tool with respect to one another,obtaining at least one segmented pre-operative 3D image of the
ankle,obtaining at least one per-operative 2D image of the
ankle, each per-operative 2D image being acquired while a registration device comprising at least three radiopaque elements and at least one electromagnetic
transceiver is placed on the ankle,registering the segmented pre-operative 3D image on each per-operative 2D image, using the registration device,determining an optimized
pose of the final tibial component with respect to the
tibia, and an optimized
pose of the final talar component with respect to the tibia, based on at least one morphological criterion,determining a targeted shape of the talus and a targeted shape of the tibia to permit to position the final tibial component and the final talar component according to their respective planned optimized poses,
machining the talus and the tibia with the surgical tool held by the
robotic arm to obtain the targeted shapes, andimplanting the final tibial component on the machined tibia, the final talar component on the machined talus, and the final insert of the ankle
implant between the final tibial component and the final talar component.