1. Date of download: 6/22/2016 Copyright © ASME. All rights reserved. From: Docking Robustness of Patient Specific Surgical Guides for Joint Replacement Surgery J. Mech. Des. 2015;137(6):062301-062301-12. doi:10.1115/1.4029665 An artist impression of a surgical guide and its usage in knee replacement is shown. (a) The surgical guide is docked onto the distal femur by a geometric fit and a pushing force of the surgeon. (b) The drill holes are used to drill pins into the bone. (c) The pins and surgical guide are removed, whereupon the pins are repositioned. (d) The pins are used to guide a saw block in place and the saw slot is used to cut the distal femur. Figure Legend:

2. Date of download: 6/22/2016 Copyright © ASME. All rights reserved. From: Docking Robustness of Patient Specific Surgical Guides for Joint Replacement Surgery J. Mech. Des. 2015;137(6):062301-062301-12. doi:10.1115/1.4029665 The surgical guide is docked onto the opposing distal femur by a geometric fit and a pushing force of the surgeon. A top view, front view, and right view are, respectively, shown on the knee joint in (a), (b), and (c). The femur and tibia are shown in typical angles for joint replacement surgery. (b) The region of the cartilage which is suitable for contact is the portion that is not interfered by the tibia. (c) and (d) The surgeon applies force fa at an arbitrary point pa on the circular application surface S. The resulting contact reaction forces fc,i act normal to the bony surface. The allowed variation in the application line la depends on the contact locations pc,i and the location of application surface S. (d) For a specified point pa, the direction da of application line la may vary within a convex cone Da. Cone Ca is the largest circular cone inscribed in Da, giving stricter but simpler bounds to the allowed variation of da. Figure Legend:

3. Date of download: 6/22/2016 Copyright © ASME. All rights reserved. From: Docking Robustness of Patient Specific Surgical Guides for Joint Replacement Surgery J. Mech. Des. 2015;137(6):062301-062301-12. doi:10.1115/1.4029665 Robustness maps for a guide with basis contact P'c,full. The contacts are indicated by the small circles. (a) The top view onto the bony geometry shows all the selected contacts. View (b) and (c) show the robustness maps which are, respectively, an yz-slice and an xz-slice of the robustness volume. For a certain application point within the robustness maps, the direction of the application line is bounded by a circular cone Ca (as depicted in Fig. 2(d)). The mean direction va and aperture θa of Ca is indicated, respectively, by vector fields and gradient colors. Two locations for the application surface are shown, namely S1 and S2, whereof S2 is a translation and rotation of S1 in the xz-plane to a better location and orientation. Figure Legend:

4. Date of download: 6/22/2016 Copyright © ASME. All rights reserved. From: Docking Robustness of Patient Specific Surgical Guides for Joint Replacement Surgery J. Mech. Des. 2015;137(6):062301-062301-12. doi:10.1115/1.4029665 Robustness maps for a guide with six optimized contacts. The contacts are indicated by the small circles. (a) The top view onto the bony geometry shows all the selected contacts. View (b) and (c) show the robustness maps which are, respectively, an yz-slice and an xz-slice of the robustness volume. For a certain application point within the robustness maps, the direction of the application line is bounded by a circular cone Ca (as depicted in Fig. 2(d)). The mean direction va and aperture θa of Ca is indicated, respectively, by vector fields and gradient colors. Two locations for the application surface are shown, namely S1 and S2, whereof S2 is a translation and rotation of S1 in the xz-plane to a better location and orientation. Figure Legend:

5. Date of download: 6/22/2016 Copyright © ASME. All rights reserved. From: Docking Robustness of Patient Specific Surgical Guides for Joint Replacement Surgery J. Mech. Des. 2015;137(6):062301-062301-12. doi:10.1115/1.4029665 Robustness maps for a guide with 12 optimized contacts. The contacts are indicated by the small circles. (a) The top view onto the bony geometry shows all the selected contacts. View (b) and (c) show the robustness maps which are, respectively, an yz-slice and an xz-slice of the robustness volume. For a certain application point within the robustness maps, the direction of the application line is bounded by a circular cone Ca (as depicted in Fig. 2(d)). The mean direction va and aperture θa of Ca is indicated, respectively, by vector fields and gradient colors. Two locations for the application surface are shown, namely S1 and S2, whereof S2 is a translation and rotation of S1 in the xz-plane to a better location and orientation. Figure Legend:

6. Date of download: 6/22/2016 Copyright © ASME. All rights reserved. From: Docking Robustness of Patient Specific Surgical Guides for Joint Replacement Surgery J. Mech. Des. 2015;137(6):062301-062301-12. doi:10.1115/1.4029665 Robustness maps for a guide with 18 optimized contacts. The contacts are indicated by the small circles. (a) The top view onto the bony geometry shows all the selected contacts. View (b) and (c) show the robustness maps which are, respectively, an yz-slice and an xz-slice of the robustness volume. For a certain application point within the robustness maps, the direction of the application line is bounded by a circular cone Ca (as depicted in Fig. 2(d)). The mean direction va and aperture θa of Ca is indicated, respectively, by vector fields and gradient colors. Two locations for the application surface are shown, namely S1 and S2, whereof S2 is a translation and rotation of S1 in the xz-plane to a better location and orientation. Figure Legend:

7. Date of download: 6/22/2016 Copyright © ASME. All rights reserved. From: Docking Robustness of Patient Specific Surgical Guides for Joint Replacement Surgery J. Mech. Des. 2015;137(6):062301-062301-12. doi:10.1115/1.4029665 Results of the optimization of ηc for even-numbered contact sets ranging from 6 to 18 contacts. The number of contacts is denoted by k. The contacts are optimized one at the time and in three cycles to confirm convergence. The iteration that ends each optimization cycle is denoted by a dot. Figure Legend: