title: Praxiteles: a miniature bone-mounted robot for minimal access total knee arthroplasty.
abstract: We have been working to develop a compact, accurate, safe, and easy-to-use surgical robot for minimally invasive total knee arthroplasty (TKA). The goal of our bone-mounted robot, named Praxiteles, is to precisely position a surgical bone-cutting guide in the appropriate planes surrounding the knee, so that the surgeon can perform the planar cuts manually using the guide. The robot architecture is comprised of 2 motorized degrees of freedom (DoF) whose axes of rotation are arranged in parallel, and are precisely aligned to the implant cutting planes with a 2 DoF adjustment mechanism. Two prototypes have been developed and tested on saw bones and cadavers--an initial one for open TKA surgery and a new version for MIS TKA, which mounts on the side of the knee. A novel bone-milling technique is also presented that uses passive guide and a side milling tool.
authors.affiliation: TIMC-IMAG, Faculté de Médecine, Université Joseph Fourier, 38706 La Tronche, France. Christopher.Plaskos@praxim-medivision.com
authors.forename: C
authors.initials: C
authors.lastname: Plaskos
authors.forename: P
authors.initials: P
authors.lastname: Cinquin
authors.forename: S
authors.initials: S
authors.lastname: Lavallée
authors.forename: A J
authors.initials: AJ
authors.lastname: Hodgson
mesh_terms: D019645:Arthroplasty, Replacement, Knee / Q000379:methods*; D001696:Biomechanical Phenomena; D002102:Cadaver; D004867:Equipment Design; D006804:Ergonomics; D006801:Humans; D008904:Miniaturization; D019060:Minimally Invasive Surgical Procedures / Q000379:methods*; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation*