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

Volume

19

Issue

5

fYear

2003

Firstpage

902

Lastpage

911

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;

fLanguage

English

Journal_Title

Robotics and Automation, IEEE Transactions on

Publisher

ieee

ISSN

1042-296X

Type

jour

DOI

10.1109/TRA.2003.817510

Filename

1236763