Hip implant insertability analysis: a medical instance of the peg-in-hole problem

An implemented algorithm for determining if an implant can be successfully inserted into a cavity is presented. The program computes an insertion trajectory consisting of small implant motion steps. Motion steps are computed by solving a series of linear optimization problems whose solution corresponds to the maximum allows displacement in a preferred direction satisfying localized motion constraints. The program implements a greedy, search-free algorithm to find a monotone trajectory in a preferred direction to any desired resolution. The program has been successfully tested on real cases