The hands-on orthopaedic robot "Acrobot": Early clinical trials of total knee replacement surgery
The hands-on orthopaedic robot "Acrobot": Early clinical trials of total knee replacement surgery
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DOI：
10.1109/tra.2003.817510
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发表时间：
2003-10-01
期刊：
影响因子：
--
通讯作者：
Davies, BL
中科院分区：
文献类型：
--
作者：
Jakopec, M;Rodriguez y Baena, F;Davies, BL
介绍了一种用于全膝关节置换手术的“动手”机器人系统。使用基于计算机断层扫描的术前规划软件来准确规划手术。术中，外科医生引导一个小型专用机器人，称为Acrobot，它安装在一个粗略的定位装置上。Acrobot使用主动约束控制，将运动约束到预定义区域，从而允许外科医生安全地切割膝关节骨，以高精度安装TKR假体。描述了一种非侵入性解剖配准方法。该系统已成功用于七个临床试验，取得了令人鼓舞的结果。
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.