Plaskos C, Cinquin P, Lavallée S, Hodgson A J
TIMC-IMAG, Faculté de Médecine, Université Joseph Fourier, 38706 La Tronche, France.
Int J Med Robot. 2005 Dec;1(4):67-79. doi: 10.1002/rcs.59.
We have been working to develop a compact, accurate, safe, and easy-to-use surgical robot for minimally invasive total knee arthroplasty (TKA). The goal of our bone-mounted robot, named Praxiteles, is to precisely position a surgical bone-cutting guide in the appropriate planes surrounding the knee, so that the surgeon can perform the planar cuts manually using the guide. The robot architecture is comprised of 2 motorized degrees of freedom (DoF) whose axes of rotation are arranged in parallel, and are precisely aligned to the implant cutting planes with a 2 DoF adjustment mechanism. Two prototypes have been developed and tested on saw bones and cadavers--an initial one for open TKA surgery and a new version for MIS TKA, which mounts on the side of the knee. A novel bone-milling technique is also presented that uses passive guide and a side milling tool.
我们一直在努力研发一种用于微创全膝关节置换术（TKA）的紧凑、精确、安全且易于使用的手术机器人。我们名为普拉克西特利斯（Praxiteles）的骨-mounted机器人的目标是将手术骨切割导向器精确地定位在膝关节周围的适当平面内，以便外科医生能够使用该导向器手动进行平面切割。该机器人架构由2个电动自由度（DoF）组成，其旋转轴平行排列，并通过一个2自由度调整机构精确对准植入物切割平面。已经开发了两个原型并在锯骨模型和尸体上进行了测试——一个是用于开放式TKA手术的初始原型，另一个是用于微创TKA的新版本，它安装在膝关节侧面。还介绍了一种使用被动导向器和侧铣刀的新型骨铣削技术。
