Referenced Items are not available for this document.
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.
Published in:
Robotics and Automation, IEEE Transactions on
(Volume:19
,
Issue:
5
)
Date of Publication: Oct. 2003
- Page(s):
- 902 - 911
- ISSN :
- 1042-296X
- INSPEC Accession Number:
- 7767835
- Digital Object Identifier :
- 10.1109/TRA.2003.817510
- Product Type:
- Journals & Magazines
- Date of Current Version :
- 14 October 2003
- Issue Date :
- Oct. 2003
- Sponsored by :
- IEEE Robotics and Automation Society
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