Wolf A, Jaramaz B, Lisien B, DiGioia A M
ICAOS, Institute for Computer Assisted Orthopaedic Surgery, The Western Pennsylvania Hospital, and the Robotics Institute at Carnegie Mellon University, Pittsburgh PA, USA.
Int J Med Robot. 2005 Jan;1(2):101-21. doi: 10.1002/rcs.20.
A report on a new active, miniature bone-attached, robotic system including its design, high level and low level control, is given together with a description of the system implementation and first experimental use. The system is capable of preparing the bone cavity for an implant during joint arthroplasty procedures. Without loss of generality, the report describes the implementation of the system for a Patellofemoral Joint Replacement procedure. The system is image-free and all planning is performed intra-operatively in the robot coordinate system, eliminating the need for external tracking systems in the operating room. Experiments were conducted using the first robot prototype and the results supported the feasibility of the concept. The methodology which is presented can be modified to other orthopaedic procedures and could improve the results in terms of accuracy and operational time. Moreover, it enables minimally invasive procedures and use of the next generation of more anatomically shaped implants.
给出了一份关于一种新型有源、微型骨附着机器人系统的报告，包括其设计、高层和低层控制，同时还描述了系统实现和首次实验应用。该系统能够在关节置换手术过程中为植入物准备骨腔。在不影响一般性的情况下，该报告描述了该系统在髌股关节置换手术中的实现。该系统无需成像，所有规划均在机器人坐标系中术中进行，无需手术室中的外部跟踪系统。使用首个机器人原型进行了实验，结果支持了该概念的可行性。所提出的方法可修改用于其他骨科手术，并可在准确性和手术时间方面改善结果。此外，它能够实现微创手术，并使用下一代更符合解剖形状的植入物。
