Preliminary Results of an Early Clinical Experience with the AcrobotTM System for Total Knee Replacement Surgery

Authors:
Matjaz Jakopec;Simon J. Harris;Ferdinando Rodriguez y Baena;Paula Gomes;Justin Cobb;Brian L. Davies
Affiliations:
-;-;-;-;-;-
Venue:
MICCAI '02 Proceedings of the 5th International Conference on Medical Image Computing and Computer-Assisted Intervention-Part I
Year:
2002

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Abstract

Early clinical experience with a "hands-on" robotic system for total knee replacement surgery is presented. The system consists of a pre-operative CT based planning software, a small special purpose robot called Acrobot (active constraint robot) mounted on a gross positioning device and special leg fixtures. The surgeon guides the Acrobot under active constraint control, which constrains the motion into a predefined region, and thus allows surfaces of the bones to be machined safely and with high accuracy. A non-invasive anatomical registration method is used. The system was clinically tested on 7 patients with encouraging results.