Matsen F A, Garbini J L, Sidles J A, Pratt B, Baumgarten D, Kaiura R
Department of Orthopaedic Surgery, University of Washington, Seattle 98195.
Clin Orthop Relat Res. 1993 Nov(296):178-86.
The term "robot" refers to a precision mechanical device that is accurately controlled by a computer using intelligent software. The term "robotic assistance" refers to the use of such a device to aid a surgeon in the optimal conduct of a procedure, particularly one requiring specified geometrical relationships. The authors have been exploring the application of robotic assistance in situations in which accuracy and precision are required in orthopaedic surgery. The initial application concerned the planning, positioning, and orientation cuts and holes of the bone required for the femoral component of a total knee arthroplasty. A three-dimensional digitizing template allowed the surgeon to specify the desired position and orientation of the component's articular surfaces in relation to the distal femur. The robotic system used this spatial relationship, along with its knowledge of the geometry of the component selected by the surgeon, to plan the precise location of the required bone cuts and holes. Finally, the robotic assistant sequentially positioned saw and drill guides with respect to the distal femur so that the surgeon made these cuts and holes in the locations necessary for optimal component fit, position, and orientation. The robotic assistant functioned easily in the operating room environment; increased the accuracy; and decreased the time, equipment, and personnel required for the conduct of the geometrical part of this surgical procedure.
“机器人”一词指的是一种精密机械设备，它由计算机通过智能软件进行精确控制。“机器人辅助”一词指的是使用这样一种设备来协助外科医生以最佳方式进行手术，特别是需要特定几何关系的手术。作者一直在探索机器人辅助在骨科手术中需要精确性和精准度的情况下的应用。最初的应用涉及全膝关节置换术股骨部件所需的骨骼切割和钻孔的规划、定位及定向。一个三维数字化模板使外科医生能够确定部件关节面相对于股骨远端的期望位置和定向。机器人系统利用这种空间关系，以及其对外科医生所选部件几何形状的了解，来规划所需骨骼切割和钻孔的精确位置。最后，机器人助手相对于股骨远端依次定位锯和钻孔导向装置，以便外科医生在实现部件最佳适配、位置和定向所需的位置进行这些切割和钻孔。机器人助手在手术室环境中轻松运行；提高了准确性；并减少了进行该外科手术几何部分所需的时间、设备和人员。
