Knee-surgery system, knee-surgery robot, and techniques for computer-guided knee repair and/or knee reconstruction

A method for surgical knee-repair and/or knee-reconstruction, the method comprising:

• attaching a first tracker to a first location selected around a knee joint;
• attaching a second tracker to a second location selected around the knee joint, wherein the first location and the second location are movable with respect to each other;
• marking a plurality of reference points on the knee joint using a marking device;
• operating one or more cameras to capture a plurality of images of the first tracker, the second tracker, and the plurality of reference points;
• operating a computing device to:
• detect relative positions of the first tracker, the second tracker, and/or the plurality of reference points from the plurality of images,
• identify a four-bar linkage of the knee joint based on the relative positions of the first tracker, the second tracker, and/or the plurality of reference points, and
• identify an axis of rotation of the knee joint defined by the four-bar linkage, wherein identifying the axis of rotation comprises identifying a point of isometry that is defined by intersecting segments of the four-bar linkage;
• and
• guiding a drilling device to drill one or more holes and/or tunnels around the knee joint based on one or more of the identified axis of rotation and the relative positions of the first tracker, the second tracker, and/or the plurality of reference points.