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The Acrobot® system for total knee replacement

Matjaz Jakopec (Matjaz Jakopec, is based at Mechanical Engineering Department, Imperial College of Science, Technology and Medicine, London, UK.)
Simon J. Harris (Simon J. Harris is based at Mechanical Engineering Department, Imperial College of Science, Technology and Medicine, London, UK.)
Ferdinando Rodriguez y Baena (Ferdinandoz Rodriguez y Baena is based at Mechanical Engineering Department, Imperial College of Science, Technology and Medicine, London, UK.)
Paula Gomes (Paula Gomes is based at Mechanical Engineering Department, Imperial College of Science, Technology and Medicine, London, UK.)
Brian L. Davies (Brian L. Davies is based at Mechanical Engineering Department, Imperial College of Science, Technology and Medicine, London, UK.)

Industrial Robot

ISSN: 0143-991x

Article publication date: 1 February 2003

1043

Abstract

A “hands‐on” robotic system for total knee replacement (TKR) surgery is presented. Computed tomography (CT) based software is used to accurately plan the procedure pre‐operatively. Intra‐operatively, 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 pre‐defined region, and thus allows the surgeon to safely cut the knee bones to fit a TKR prosthesis with high precision. A non‐invasive anatomical registration method is used. The system has undergone early clinical trials with very promising outcomes.

Keywords

Citation

Jakopec, M., Harris, S.J., Rodriguez y Baena, F., Gomes, P. and Davies, B.L. (2003), "The Acrobot® system for total knee replacement", Industrial Robot, Vol. 30 No. 1, pp. 61-66. https://doi.org/10.1108/01439910310457724

Publisher

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MCB UP Ltd

Copyright © 2003, MCB UP Limited

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