title: The first clinical application of a "hands-on" robotic knee surgery system.
abstract: 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.
authors.affiliation: Department of Mechanical Engineering, Imperial College, London, United Kingdom.
authors.forename: M
authors.initials: M
authors.lastname: Jakopec
authors.forename: S J
authors.initials: SJ
authors.lastname: Harris
authors.forename: F
authors.initials: F
authors.lastname: Rodriguez y Baena
authors.forename: P
authors.initials: P
authors.lastname: Gomes
authors.forename: J
authors.initials: J
authors.lastname: Cobb
authors.forename: B L
authors.initials: BL
authors.lastname: Davies
mesh_terms: D019645:Arthroplasty, Replacement, Knee / Q000295:instrumentation / Q000379:methods*; D002986:Clinical Trials as Topic; D006801:Humans; D007430:Intraoperative Care; D007717:Knee / Q000000981:diagnostic imaging; D007720:Knee Prosthesis; D010347:Patient Care Planning; D019047:Phantoms, Imaging; D012371:Robotics / Q000295:instrumentation*; D025321:Surgery, Computer-Assisted / Q000295:instrumentation* / Q000379:methods; D014057:Tomography, X-Ray Computed; D014584:User-Computer Interface