Jakopec M, Harris S J, Rodriguez y Baena F, Gomes P, Cobb J, Davies B L
Department of Mechanical Engineering, Imperial College, London, United Kingdom.
Comput Aided Surg. 2001;6(6):329-39. doi: 10.1002/igs.10023.
The performance of a novel "hands-on" robotic system for total knee replacement (TKR) surgery is evaluated. An integrated robotic system for accurately machining the bone surfaces in TKR surgery is described. Details of the system, comprising an "active constraint" robot, called Acrobot, a "gross positioning" robot, and patient clamps, are provided. The intraoperative protocol and the preoperative, CT-based, planning system are also described. A number of anatomical registration and cutting trials, using plastic bones, are described, followed by results from two preliminary clinical trials, which demonstrate the accuracy achieved in the anatomical registration. Finally, the first clinical trial is described, in which the results of the anatomical registration and bone cutting are seen to be of high quality. The Acrobot system has been successfully used to accurately register and cut the knee bones in TKR surgery. This demonstrates the great potential of a "hands-on" robot for improving accuracy and increasing safety in surgery.
对一种用于全膝关节置换（TKR）手术的新型“实操型”机器人系统的性能进行了评估。描述了一种用于在TKR手术中精确加工骨表面的集成机器人系统。提供了该系统的详细信息，包括一个名为Acrobot的“主动约束”机器人、一个“粗略定位”机器人和患者夹具。还描述了术中操作流程以及基于术前CT的规划系统。描述了一些使用塑料骨进行的解剖学配准和切割试验，随后是两项初步临床试验的结果，这些结果证明了在解剖学配准中所达到的精度。最后，描述了首次临床试验，其中解剖学配准和骨切割的结果显示质量很高。Acrobot系统已成功用于在TKR手术中精确配准和切割膝关节骨。这证明了“实操型”机器人在提高手术精度和增加手术安全性方面的巨大潜力。
