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The hands-on orthopaedic robot "acrobot": Early clinical trials of total knee replacement surgery

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6 Author(s)
Jakopec, M. ; Dept. of Mech. Eng., Imperial Coll. of Sci., Technol. & Med., London, UK ; Rodriguez y Baena, F. ; Harris, S.J. ; Gomes, P.
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A "hands-on" robotic system for total knee replacement (TKR) surgery is presented. A computer tomography-based preoperative planning software is used to accurately plan the procedure. Intraoperatively, the surgeon guides a small special-purpose robot, called Acrobot, which is mounted on a gross positioning device. The Acrobot uses active constraint control, which constrains the motion to a predefined region, and thus allows the surgeon to safely cut the knee bones to fit a TKR prosthesis with high precision. A noninvasive anatomical registration method is described. The system has been successfully used in seven clinical trials with encouraging results.

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Robotics and Automation, IEEE Transactions on  (Volume:19 ,  Issue: 5 )