An image-directed robotic system for precise orthopaedic surgery

Abstract

We have developed an image-directed robotic system to augment the performance of human surgeons in precise bone machining procedures in orthopaedic surgery, initially targeted at cementless total hip replacement surgery. The total system consists of an interactive CT-based presurgical planning component and a surgical system consisting of a robot, redundant motion monitoring, and man-machine interface components. In vitro experiments conducted with this system have demonstrated an order-of-magnitude improvement in implant fit and placement accuracy, compared to standard manual preparation techniques. The first generation system described in this paper was used in a successful veterinary clinical trial on 26 dogs needing hip replacement surgery. It was the basis for subsequent development of a second-generation system that is now in human clinical trials.

Precision Freehand Sculpting of Bone

“…In contrast to robots such as RoboDoc [1] and Acrobot [2], the PFS has a smaller footprint and does not require the bone to be fixed in place. It also features the inherent safety of not being able to move on its own, other than the small motion of blade extension.…”

Vision Based Robotic Navigation: Application to Orthopedic Surgery

“…These methodologies can be grouped as feature based registration techniques (Besl and McKay. 1992;Taylor, Mittelstadt et al 1994;Lavallee, Szeliski et al 1995;Livyatan, Yaniv et al 2003;Tomaževic, Likar et al 2003) or as intensity based registration techniques (Penney, Batchelor et al 2001;Zollei, Grimson et al 2001;Rohlfing and Maurer 2002). Feature based approaches rely on the presence and identification of natural landmarks in the input datasets in order to determine the best alignment.…”

Optimising Operation Process for Computer Integrated Prostatectomy

“…Registration is normally concerned with relating the reference systems associated with different modalities to the rigid or elastic geometric transforms [4][5][6]. However, the registration of PROBOT is very straightforward.…”