Hsieh Chih Ming, Howell Stephen M, Hull Maury L
Department of Biomedical Engineering, University of California Davis, One Shields Avenue Davis, CA 95616, USA.
Department of Biomedical Engineering, University of California Davis, One Shields Avenue Davis, CA 95616, USA; Department of Mechanical Engineering, University of California Davis, One Shields Avenue, Davis, CA 95616-5270, USA; Department of Orthopaedic Surgery, University of California Davis, 4860 Y Street, Suite 3800, Sacramento, CA 95817, USA.
Med Eng Phys. 2017 Oct;48:120-130. doi: 10.1016/j.medengphy.2017.06.016. Epub 2017 Jul 26.
Errors during a robot-assisted THA may result in a femoral cavity with position and orientation different than planned. This can lead to a femoral component placement that inaccurately sets a patient's femoral anteversion (FA), femoral offset (FO), and vertical offset (VO). The objectives of this study were to determine the position and orientation errors of robotically-machined femoral cavities in six degrees of freedom and to determine how position and orientation errors translate into errors in the setting of FA, FO, and VO. After creating preoperative plans, robot-assisted THAs were performed on twelve cadaveric specimens. The position and orientation of the machined cavities were compared to those of the planned cavities to determine the errors in six degrees of freedom. Placement of femoral components into the machined cavities was simulated, and the differences in FA, FO, and VO between the simulated and planned component placement were computed. While bias (i.e. mean error) occurred for three of six degrees of freedom in femoral cavities machined by a robotic system, the root mean squared errors (RMSEs) when the placement of femoral component was simulated were limited to 1.9° for FA, 1.0mm for FO, and 2.1mm for VO and were clinically unimportant.
机器人辅助全髋关节置换术中的误差可能导致股骨腔的位置和方向与计划不同。这可能会导致股骨假体的放置不准确地设定患者的股骨前倾角（FA）、股骨偏心距（FO）和垂直偏心距（VO）。本研究的目的是确定机器人加工的股骨腔在六个自由度上的位置和方向误差，并确定位置和方向误差如何转化为FA、FO和VO设定中的误差。在制定术前计划后，对12个尸体标本进行了机器人辅助全髋关节置换术。将加工腔的位置和方向与计划腔的位置和方向进行比较，以确定六个自由度上的误差。模拟了股骨假体在加工腔中的放置，并计算了模拟和计划假体放置之间FA、FO和VO的差异。虽然机器人系统加工的股骨腔在六个自由度中的三个出现了偏差（即平均误差），但模拟股骨假体放置时的均方根误差（RMSE）在FA方面限制为1.9°，在FO方面限制为1.0mm，在VO方面限制为2.1mm，在临床上并不重要。
