An image-directed robotic system for precise orthopaedic surgery

Author

Taylor, Russell H. ; Mittelstadt, Brent D. ; Paul, Howard A. ; Hanson, William ; Kazanzides, Peter ; Zuhars, Joel F. ; Williamson, Bill ; Musits, Bela L. ; Glassman, Edward ; Bargar, William L.

Author_Institution

IBM Thomas J. Watson Res. Center, Yorktown Heights, NY, USA

Volume

10

Issue

3

fYear

1994

fDate

6/1/1994 12:00:00 AM

Firstpage

261

Lastpage

275

Abstract

The authors have developed an image-directed robotic system to augment the performance of human surgeons in precise bone machining procedures in orthopaedic surgery, initially targeted at cementless total hip replacement surgery. The total system consists of an interactive CT-based presurgical planning component and a surgical system consisting of a robot, redundant motion monitoring, and man-machine interface components. In vitro experiments conducted with this system have demonstrated an order-of-magnitude improvement in implant fit and placement accuracy, compared to standard manual preparation techniques. The first generation system described in this paper was used in a successful veterinary clinical trial on 26 dogs needing hip replacement surgery. It was the basis for subsequent development of a second-generation system that is now in human clinical trials

Keywords

bone; computer vision; computerised tomography; medical image processing; prosthetics; surgery; user interfaces; cementless total hip replacement surgery; image-directed robotic system; interactive CT-based presurgical planning component; man-machine interface; precise bone machining; precise orthopaedic surgery; redundant motion monitoring; surgical system; Bones; Clinical trials; Hip; Humans; Machining; Monitoring; Motion planning; Orthopedic surgery; Robots; User interfaces;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/70.294202

Filename

294202