Title :
The hands-on orthopaedic robot "acrobot": Early clinical trials of total knee replacement surgery
Author :
Jakopec, Matjaz ; Baena, Ferdinando Rodriguez y ; Harris, Simon J. ; Gomes, Paula ; Cobb, Justin ; Davies, Brian L.
Author_Institution :
Dept. of Mech. Eng., Imperial Coll. of Sci., Technol. & Med., London, UK
Abstract :
A "hands-on" robotic system for total knee replacement (TKR) surgery is presented. A computer tomography-based preoperative planning software is used to accurately plan the procedure. Intraoperatively, the surgeon guides a small special-purpose robot, called Acrobot, which is mounted on a gross positioning device. The Acrobot uses active constraint control, which constrains the motion to a predefined region, and thus allows the surgeon to safely cut the knee bones to fit a TKR prosthesis with high precision. A noninvasive anatomical registration method is described. The system has been successfully used in seven clinical trials with encouraging results.
Keywords :
medical robotics; surgery; Acrobot; active constraint control; active constraints; noninvasive anatomical registration; positioning device; preoperative planning software; small robot; total knee replacement; Bones; Clinical trials; Fixtures; Implants; Knee; Orthopedic surgery; Prosthetics; Service robots; Surface fitting; Surges;
Journal_Title :
Robotics and Automation, IEEE Transactions on
DOI :
10.1109/TRA.2003.817510
