The first clinical application of a "hands-on" robotic knee surgery system.
The first clinical application of a "hands-on" robotic knee surgery system.
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DOI：
10.3109/10929080109146302
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发表时间：
2001-01-01
期刊：
影响因子：
--
通讯作者：
Davies, B L
中科院分区：
文献类型：
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作者：
Jakopec, M;Harris, S J;Davies, B L
评估了用于全膝关节置换（TKR）手术的新型“动手”机器人系统的性能。描述了一种用于在 TKR 手术中精确加工骨表面的集成机器人系统。提供了该系统的详细信息，包括称为 Acrobot 的“主动约束”机器人、“总体定位”机器人和患者夹钳。还描述了术中方案和术前基于 CT 的计划系统。描述了使用塑料骨的许多解剖配准和切割试验，随后是两个初步临床试验的结果，证明了解剖配准中实现的准确性。最后，描述了第一个临床试验，其中解剖配准和骨切割的结果被认为是高质量的。 Acrobot 系统已成功用于 TKR 手术中准确配准和切割膝骨。这表明“动手”机器人在提高手术准确性和安全性方面具有巨大潜力。
The performance of a novel "hands-on" robotic system for total knee replacement (TKR) surgery is evaluated. An integrated robotic system for accurately machining the bone surfaces in TKR surgery is described. Details of the system, comprising an "active constraint" robot, called Acrobot, a "gross positioning" robot, and patient clamps, are provided. The intraoperative protocol and the preoperative, CT-based, planning system are also described. A number of anatomical registration and cutting trials, using plastic bones, are described, followed by results from two preliminary clinical trials, which demonstrate the accuracy achieved in the anatomical registration. Finally, the first clinical trial is described, in which the results of the anatomical registration and bone cutting are seen to be of high quality. The Acrobot system has been successfully used to accurately register and cut the knee bones in TKR surgery. This demonstrates the great potential of a "hands-on" robot for improving accuracy and increasing safety in surgery.