The Hands-On Orthopaedic Robot "Acrobot": Early Clinical Trials of Total Knee Replacement Surgery

IEEE Transactions on Robotics and Automation

Volumn 19, Issue 5, 2003, Pages 902-911

  Jakopec, Matjaz ^a   Rodriguez y Baena, Ferdinando ^a   Harris, Simon J ^a   Gomes, Paula ^a   Cobb, Justin ^a   Davies, Brian L ^a  

^a IMPERIAL COLLEGE LONDON   (United Kingdom)

Author keywords

Acrobot; Active constraints; Hands on robotics; Orthopaedic robotic surgery; Total knee replacement (TKR)

Indexed keywords

BONE; COMPUTERIZED TOMOGRAPHY; ROBOT APPLICATIONS; SURGERY;

REPLACEMENT SURGERY;

ROBOTICS;

EID: 0142196054     PISSN: 1042296X     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRA.2003.817510     Document Type: Article

References (30)

1. M. Tew and W. Waugh, "Tibiofemoral alignment and the results of knee replacement," J Bone and Joint Surgery, vol. 67-B, no. 4, pp. 551-556, 1985.
2. M. Jakopec, S. J. Harris, F. R. Y. Baena, P. Gomes, J. Cobb, and B. L. Davies, "The first clinical application of a "hands-on" robotic knee surgery system," Comput. -Aided Surgery, vol. 6, no. 6, pp. 329-339, 2001.
3. W. Siebert, S. Mai, R. Kober, and P. F. Heeckt, "Technique and first clinical results of robot-assisted total knee replacement," Knee, vol. 9, no. 3, pp. 173-180, 2002.
4. B. D. Mittelstadt, P. Kazanzides, J. F. Zuhars, B. Williamson, P. Cain, F. Smith, and W. L. Bargar, "The evolution of a surgical robot from prototype to human clinical use," in Computer-Integrated Surgery: Technology and Clinical Applications, R. H. Taylor, S. Lavallee, G. C. Burdea, and R. Mösges, Eds. Cambridge, MA: MIT Press, 1996, pp. 397-407.
5. R. H. Taylor, B. D. Mittelstadt, H. A. Paul, W. Hanson, P. Kazanzides, J. F. Zuhars, B. Williamson, B. L. Musits, E. Glassman, and W. L. Bargar, "An image-directed robotic system for precise orthopaedic surgery," in Computer-Integrated Surgery: Technology and Clinical Applications, R. H. Taylor, S. Lavallee, G. G. Burdea, and R. Mösges, Eds. Cambridge, MA: MIT Press, 1996, pp. 379-396.
6. P. Kazanzides, B. D. Mittelstadt, B. L. Musits, W. L. Bargar, J. F. Zuhars, B. Williamson, P. W. Cain, and E. J. Carbone, "An integrated system for cementless hip replacement," IEEE Eng. Med. Biol. Mag., vol. 14, pp. 307-313, May/June 1995.
7. U. Wiesel, A. Lahmer, M. Borner, and H. Skibbe, "Robodoc at B.G. Frankfurt - Experiences with the pinless system," in Proc. Computer Assisted Orthopaedic Surgery, Pittsburgh, PA, June 1999.
8. G. Brandt, K. Rademacher, A. Zimolong, and G. Rau, "Development of an integrated compact robot system for orthopaedic surgery," in Proc. 29th ISR Conf. Advanced Robotics: Beyond 2000, Birmingham, U.K., Apr. 1998.
9. G. Brandt, A. Zimolong, L. Carrat, P. Merloz, H. W. Staudte, S. Lavallee, K. Radermacher, and G. Rau, "CRIGOS: A compact robot for image-guided orthopedic surgery," IEEE Trans. Inform. Technol. Biomed., vol. 3, pp. 252-260, Apr. 1999.
10. M. Marcacci, P. Dario, M. Fadda, G. Marcenaro, and S. Martelli, "Computer-assisted knee arthroplasty," in Computer-Integrated Surgery: Technology and Clinical Applications, R. H. Taylor, S. Lavallee, G. C. Burdea, and R. Mösges, Eds. Cambridge, MA: MIT Press, 1996, pp. 417-423.
11. M. Fadda, T. Wang, M. Marcacci, S. Martelli, P. Dario, G. Marcenaro, M. Nanetti, C. Paggetti, A. Visani, and S. Zaffagnini, "Computer-assisted knee arthroplasty at Rizzoli Institutes," in Proc. Ist Int. Symp. Medical Robotics and Computer-Assisted Surgery, MRCAS'94, vol. 2, Pittsburgh, PA, 1994, pp. 26-30.
12. A. Malvisi, M. Fadda, R. Vallegi, G. Bioli, and S. Martelli, "A new robotic system for the operating theater," Comput. Contr. Eng. J., vol. 12, no. 3, pp. 129-136, 2001.
13. P. LaPalombara, M. Fadda, S. Martelli, and M. Marcacci, "Minimally invasive 3-D data registration in computer and robot-assisted total knee arthroplasty,"Med. Biol. Eng. Comput., vol. 35, no. 6, pp. 600-610, Nov. 1997.
14. T. C. Kienzle, III, S. D. Stulberg, M. Peshkin, A. Quaid, J. Lea, A. Goswami, and C. H. Wu, "Total knee replacement," IEEE Eng. Med. Biol. Mag., vol. 14, pp. 301-306, May/June 1995.
15. _, "A computer-assisted total knee replacement surgical system using a calibrated robot," in Computer-Integrated Surgery: Technology and Clinical Applications, R. H. Taylor, S. Lavallee, G. C. Burdea, and R. Mösges, Eds. Cambridge, MA: MIT Press, 1996, pp. 409-416.
16. L. P. Nolte, L. J. Zamorano, Z. Jiang, Q. Wang, F. Langlotz, E. Arm, and H. Visarius, "A novel approach to computer-assisted spine surgery," in Proc. 1st Int. Symp. Medical Robotics and Computer Assisted Surgery, MRCAS'94, vol. 2, Pittsburgh, PA, 1994, pp. 323-328.
17. S. Lavallee, P. Sautot, J. Troccaz, P. Cinquin, and P. Merloz, "Computer-assisted spine surgery: A technique for accurate transpedicular screw fixation using CT data and a 3-D optical localizer," in Proc. 1st Int. Symp. Medical Robotics and Computer Assisted Surgery, MRCAS'94, vol. 2, Pittsburgh, PA, 1994, pp. 315-322.
18. L. Joskowick and R. H. Taylor, "Computers in imaging and guided surgery," Comput. Sci. Eng., vol. 3, no. 5, pp. 65-72, 2001.
19. K. Cleary and C. Nguyen, "State of the art in surgical robotics: Clinical applications and technical challenges," Comput.-Aided Surgery, vol. 6, no. 6, pp. 312-328, 2001.
20. B. L. Davies, "A review of robotics in surgery," J. Eng. Med., vol. 214, no. 1, pp. 129-140, 2000.
21. Y. S. Kwoh, J. Hou, E. A. Jonckeere, and S. Hayati, "A robot with improved absolute positioning accuracy for CT-guided stereotactic brain surgery," IEEE Trans. Biomed. Eng., vol. 35, pp. 153-160, Feb. 1988.
22. W. S. Ng, B. L. Davies, R. D. Hibberd, and A. G. Timoney, "A first-hand experience in transurethral resection of the prostate," in Proc. IEEE EMBS, vol. 12, Mar. 1993, pp. 120-125.
23. D. Stoianovici, L. L. Whitcomb, J. H. Anderson, R. H. Taylor, and L. R. Kavoussi, "A modular surgical robotic system for image-guided percutaneous procedures," in Proc. 1st Int. Conf. Medical Image Computing and Computer-Assisted Intervention (MICCAI'98), Cambridge, MA, Oct. 1998. pp. 404-410.
24. S. C. Ho, R. D. Hibberd, and B. L. Davies, "Robot-assisted knee surgery," IEEE Eng. Med. Biol. Mag., vol. 14, pp. 292-300, May/June 1995.
25. S. J. Harris, M. Jakopec, I. Cobb, R. D. Hibberd, and B. L. Davies, "Interactive preoperative selection of cutting constraints, and interactive force-controlled knee surgery by a surgical robot," in Proc. MICCAI'98, Cambridge, MA, 1998, pp. 996-1006.
26. J. Troccaz and Y. Delnondedieu, "Semi-active guiding systems in surgery A two-DOF prototype of the passive arm with dynamic constraints(PADyC)," Mechatronics, vol. 6, no. 4, pp. 399-421, 1996.
27. _, "Guiding systems for computer-assisted surgery: Introducing synergistic devices and discussing the different approaches," Med. Image Anal., vol. 2, pp. 101-119, 1998.
28. S. J. Harris, M. Jakopec. J. Cobb, and B. L. Davies, "Intraoperative application of a robotic knee surgery system," in Proc. MICCAI'99, Cambridge, U.K., 1999, pp. 1116-1124.
29. P. J. Besl and N. D. McKay, "A method for registration of 3-D shapes," IEEE Trans. Pattern Anal. Machine Intell., vol. 14, pp. 239-256, Feb. 1992.
30. Z. Zhang, "Iterative point matching for registration of free-form curves and surfaces," Int. J. Comput. Vis., vol. 13, no. 2, pp. 119-152, 1994.