ACROBOT - using robots and surgeons synergistically in knee surgery

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

doi:10.1109/icar.1997.620179

Cited by 18 publications

(9 citation statements)

References 3 publications

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“…The concept of VFs in collaborative manipulation has also been advanced by Davies et al [35], who introduced the so-called 'active constraints' by gradually increasing the haptic stiffness when the end-effector approaches the pre-defined forbidden region. The research group at Imperial College London developed the first active constraint robot for orthopaedic surgery known as Acrobot.…”

Section: Benefits Of Robot Integration In Surgerymentioning

confidence: 99%

Flexible robotic device for spinal surgery

Morad

Ulbricht

Harkin

et al. 2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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The copyright of this thesis rests with the author and is made available under a Creative Commons Attribution Non-Commercial No Derivatives Licence. Researchers are free to copy, distribute or transmit the thesis on the condition that they attribute it, that they do not use it for commercial purposes and that they do not alter, transform or build upon it. For any reuse or redistribution, researchers must make clear to others the licence terms of this work.

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Section: Benefits Of Robot Integration In Surgerymentioning

confidence: 99%

Flexible robotic device for spinal surgery

Morad

Ulbricht

Harkin

et al. 2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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“…5,10,11,13 These artificial fiducials are placed preoperatively to be visible on the preoperative images. This has certain drawbacks: an extra operation is needed and has the risk of infection; in addition, the patients often suffer from postoperative pains.…”

Section: Discussionmentioning

confidence: 99%

Machining and accuracy studies for a tibial knee implant using a force-controlled robot

Van Ham,

Denis,

Vander Sloten

et al. 1998

Comput. Aided Surg.

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Total knee arthroplasty requires accurate preparation of the bone surfaces to maximize bone implant contact area in cementless surgery and to obtain proper joint kinematics and ligament balancing. Robots can make the cuts with the necessary high precision. The purpose of this article is threefold: to propose an alternative method for intraoperative registration using an intramedullary rod and an alternative method for force control using the hybrid force-velocity control scheme; to demonstrate that the accuracy and the surface flatness of the cuts machined by a robot are better than in a conventional operation; and to monitor the machining process and to try to derive some information about the local bone quality from it. The results of the laboratory study are promising: the surface flatness of the tibial plateau, calculated using a least squares method, is 0.1-0.2 mm, which is significantly better than in conventional surgery; and the high angular accuracy of the robot allows the bone cuts to be located precisely. Further, an exponential relation between milling forces and local bone density was established, so measurements of the milling forces can provide the surgeon with on-line information about the local bone quality.

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“…Constraints have also been used in surgical systems to assist and guide a surgeon [3], [8]. More recent work in 2005 [18], indicated that point-attraction virtual fixtures could assist in a surgical task.…”

Section: Related Workmentioning

confidence: 99%

Performance improvement with haptic assistance: A quantitative assessment

Gunn

Müller

Datta

2009

World Haptics 2009 - Third Joint EuroHaptics Conference and Symposium on Haptic Interfaces for Virtual Environment and Teleoper

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We measure the performance improvement that force feedback can provide in a virtual environment, through three experiments with, and without the assistance of haptic guidance. Performance measurements were undertaken with haptic, visual and auditory feedback alternatives. The first task investigated the use of haptic guidance mimicking reality, in the form of a simulated touchable surface of an object. The second investigated haptic guidance which waxed and waned as the user violated program rules by varying amounts. The third experiment investigated whether this latter artificial guidance would inhibit the user's free will by taking control out of their hands. The results showed that a significant improvement in both accuracy and speed was achieved by the introduction of haptics in all experiments. It also found that the haptic guidance did not take control away from the user and that they had significantly more control than with conventional warning methods. These experiments were not aimed at learning, or retention of skill, but on using haptics as an aid to improve performance during a task.

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ACROBOT - using robots and surgeons synergistically in knee surgery

Cited by 18 publications

References 3 publications

Flexible robotic device for spinal surgery

Flexible robotic device for spinal surgery

Machining and accuracy studies for a tibial knee implant using a force-controlled robot

Performance improvement with haptic assistance: A quantitative assessment

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