M. Jakopec, F. Baena, S. Harris, P. Gomes, J. Cobb, B. Davies
{"title":"The hands-on orthopaedic robot \"acrobot\": Early clinical trials of total knee replacement surgery","authors":"M. Jakopec, F. Baena, S. Harris, P. Gomes, J. Cobb, B. Davies","doi":"10.1109/TRA.2003.817510","DOIUrl":null,"url":null,"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.","PeriodicalId":161449,"journal":{"name":"IEEE Trans. Robotics Autom.","volume":null,"pages":null},"PeriodicalIF":0.0000,"publicationDate":"2003-10-01","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"150","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"IEEE Trans. Robotics Autom.","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/TRA.2003.817510","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 150
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.
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