The hands-on orthopaedic robot "Acrobot": Early clinical trials of total knee replacement surgery

被引：98

作者：

Jakopec, M ^{[1
]}

Rodriguez y Baena, F ^{[1
]}

Harris, SJ ^{[1
]}

Gomes, P ^{[1
]}

Cobb, J ^{[1
]}

Davies, BL ^{[1
]}

机构：

[1] Univ London Imperial Coll Sci Technol & Med, Dept Mech Engn, Mechatron Med Grp, London SW7 2AZ, England

来源：

IEEE TRANSACTIONS ON ROBOTICS AND AUTOMATION | 2003年 / 19卷 / 05期

关键词：

Acrobot; active constraints; hands-on robotics; orthopaedic robotic surgery; total knee replacement (TKR);

D O I：

10.1109/TRA.2003.817510

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：902 / 911

页数：10

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