Yen P-L, Davies B L
Department of Bio-Industrial Mechatronics Engineering, National Taiwan University, Taipei, Republic of China.
Proc Inst Mech Eng H. 2010;224(5):623-31. doi: 10.1243/09544119JEIM606.
The concept of active constraint control for image-guided robotic surgery is introduced, together with its benefits and a short outline of its history. The clinical use of active constraint control in orthopaedic surgery is discussed, together with the outcomes of a clinical trial for unicondylar knee replacement surgery. The evolution of the robotic design from large costly structures towards simpler, more cost-effective systems is also presented, leading to the design of the Acrobot 'Sculptor' system. A new approach to the achievement of robotic total knee replacement is also presented, in which a high-speed rotary cutter is used to slice through the bone to achieve a speedy resection. The control concept is presented, together with the results of trials on animal bones and a cadaver, showing that it is possible to remove large quantities of bone both quickly and accurately.
介绍了图像引导机器人手术的主动约束控制概念、其优势及其历史简述。讨论了主动约束控制在骨科手术中的临床应用，以及单髁膝关节置换手术的临床试验结果。还介绍了机器人设计从大型昂贵结构向更简单、更具成本效益系统的演变，从而引出了Acrobot“Sculptor”系统的设计。还提出了一种实现机器人全膝关节置换的新方法，即使用高速旋转刀具切割骨头以实现快速切除。介绍了控制概念以及在动物骨骼和尸体上的试验结果，表明能够快速且准确地切除大量骨头。
