A mechatronic based robotic system for knee surgery

Davies, Brian; Fan, Kaihu; Hibberd, R.D.; Jakopec, M.; Harris, Simon

doi:10.1109/iis.1997.645177

Cited by 7 publications

(6 citation statements)

References 3 publications

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“…Semi-active robotic assistive system were developed for orthopaedic surgery [4,14] starting from 1990s. In the ACROBOT system the surgeon guides the robot using a handle with a force sensor servoing fixed to the robot tip.…”

Section: Introductionmentioning

confidence: 99%

Robotic alignment of femoral cutting mask during total knee arthroplasty

et al. 2008

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Objective To investigate a new navigation system integrated with a robotic arm for total knee replacement (TKR) procedures. Materials and MethodsThe study here reported attempts providing the surgeon with a robotic assistant handling the surgical tools with superior stability removing tremors. The system is equipped with an optical localization system, which allows the real-time monitoring of the position and orientation of the surgical tools carried by the robot end-effector and provides a feedback control to optimize the reaching of the goal position. Results Pilot experiments, performed aligning the femoral cutting mask to the surgical position, together with the feasibility of the system, proved its accuracy and reliability. Conclusion This paper shows the feasibility of a robotic system for TKR, integrated with a navigation system, in order to overcome limitations of both approaches.

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Section: Introductionmentioning

confidence: 99%

Robotic alignment of femoral cutting mask during total knee arthroplasty

et al. 2008

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“…Applications to the prostatectomy procedure and in the resection of tumors in neurosurgery are excellent examples [13] . Other examples of advanced mechatronic surgical tools to enhance skill levels are in the alignments of bone tissues in craniofacial surgery [14] , the control of cutting tools in knee surgery [15] , the precise control of tool motion in soft tissues in the ear [16] , and needle penetration [17] . However, MIS decreases the tactile sensory perception of the surgeon.…”

Section: Introductionmentioning

confidence: 99%

Fabrication of a Capacitance-Based Tactile Sensor with Biomedical Applications

Golpaygani¹,

Najarian²,

Movahedi³

et al. 2008

American J. of Applied Sciences

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Abstract:The design, modeling, and testing of a flexible tactile sensor and its applications are presented. This sensor is made of polymer materials and can detect the 2D surface texture image and contact-force estimation. The sensing mechanism is based on the novel contact deflection effect of a membrane. We measure the amount of membrane deflection with measuring the change of capacitance between two plates. One plate is attached to membrane and the other fixed on the substrate of sensor. An electronic interface circuit is used to convert the capacitance variety to frequency variety. Furthermore, the size and shape of the sensor can be easily tailored to the applications requirements. The proposed sensor with the potential for further miniaturization is suitable for using in biomedical applications, especially in minimally invasive surgery (MIS).

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“…To overcome the problems of conventional surgery and improve the results of the procedure, a robotic surgery system is being developed at Imperial College [2][3][4][5][6] and is now undergoing clinical trials. In contrast to other robotic systems for orthopedic surgery, such as Robodoc [7][8][9] or Caspar, 10 which use modified industrial robots, a small, lowpowered, special-purpose robot called Acrobot (active constraint robot) has been built for safe use in a crowded sterile operating theater environment.…”

Section: Introductionmentioning

confidence: 99%

The first clinical application of a ?hands-on? robotic knee surgery system

Jakopec

Harris

Baena

et al. 2001

Comput. Aided Surg.

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103

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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.

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A mechatronic based robotic system for knee surgery

Cited by 7 publications

References 3 publications

Robotic alignment of femoral cutting mask during total knee arthroplasty

Robotic alignment of femoral cutting mask during total knee arthroplasty

Fabrication of a Capacitance-Based Tactile Sensor with Biomedical Applications

The first clinical application of a ?hands-on? robotic knee surgery system

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