Rodriguez F, Harris S, Jakopec M, Barrett A, Gomes P, Henckel J, Cobb J, Davies B
Acrobot Company Ltd, Unit 13.3.2 Leathermarket, Weston Street, London SE1 3ER.
Int J Med Robot. 2005 Dec;1(4):20-8. doi: 10.1002/rcs.52.
A randomised clinical trial has been completed for uni-condylar arthroplasty. The trial, under the auspices of the UK MHRA, comprised 15 knees of patients undergoing conventional surgery, and 13 knees of patients who had robotic surgery using the Acrobot hands-on robotic system. The results of the trial were checked by comparing post-op CT scans with pre-op CT-based plans, and show a significant improvement in accuracy using the robot. The technical concept of the Acrobot approach is also described. Details of the complete system are outlined, including the pre-operative planner. The plan incorporates 3D CT models of the leg, together with CAD models of prostheses that can be used to plan the leg alignment, position the prostheses, plan the shape of the cuts required and generate the regions within which cuts must be constrained. The robotic system is also described, together with the methods for locating, clamping, cutting and monitoring the patient. An outline is given of the means by which the preoperative model is registered or aligned to the intra-operative position of the patient and of the robot, without the need for fiducial markers. Results of the randomised clinical trial are also discussed.
一项针对单髁关节置换术的随机临床试验已经完成。该试验在英国药品和医疗产品监管局（MHRA）的支持下进行，包括接受传统手术的15名患者的膝关节，以及使用Acrobot手动机器人系统进行机器人手术的13名患者的膝关节。通过将术后CT扫描与术前基于CT的计划进行比较来检查试验结果，结果显示使用机器人后准确性有显著提高。文中还描述了Acrobot方法的技术概念。概述了完整系统的详细信息，包括术前规划器。该计划纳入了腿部的3D CT模型以及假体的CAD模型，可用于规划腿部对线、定位假体、规划所需切口的形状以及生成切口必须受限的区域。文中还介绍了机器人系统，以及定位、夹紧、切割和监测患者的方法。概述了术前模型与患者和机器人术中位置进行配准或对齐的方法，无需使用基准标记。还讨论了随机临床试验的结果。
