Abstract
An introduction to robotic surgery is given, together with a classification of the range of systems available with their problems and benefits. The potential for a new class of robot system, called a hands-on robot is then discussed. The hands-on robotic system, which is called Acrobot®, is then presented for total knee replacement (TKR) surgery and for uni-condylar knee replacement (UKR) surgery. CT-based software is used to accurately plan the procedure pre-operatively. Intra-operatively, the surgeon guides a small, special-purpose robot, which is mounted on a gross positioning device. The Acrobot® uses active constraint control, which constrains the motion to a predefined region, and thus allows the surgeon to safely cut the knee bones to fit a TKR or a UKR prosthesis with high precision. A non-invasive anatomical registration method is used. The system has undergone early clinical trials of a TKR surgery and, more recently a blind randomised clinical trial of UKR surgery. Preliminary results of the UKR study are presented in which the pre-operative CT based plan is contrasted with a post operative CT scan of the result, in an attempt to gain an objective assessment of the efficacy of the procedure. Finally, proposals for future requirements of robotic surgery systems are given.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Preview
Unable to display preview. Download preview PDF.
References
Davies, B.L., Harris, S.J., Hibberd, R.D.: The Probot- an active robot for prostate resection. In: Proc. I Mech E, Part H, vol. 211(H4), pp. 317–326 (1997)
Casula, R., Athanasiou, T., Darzi, A.: Minimal acess coronary revascularisation without cardiopulmonary bypass - The impact of robotic technology in current clinical practice. Int J Medical Robotics and Computer Aided Surgery 1(1), 98–106 (2004)
Tew, M., Waugh, W.: Tibiofemoral Alignment and the Results of Knee Replacement. Journal of Bone and Joint Surgery 67-B(4), 551–556 (1985)
Jakopec, M., Harris, S.J., Rodriguez y Baena, F., Gomes, P., Cobb, J., Davies, B.L.: The First Clinical Application of a ”Hands-on” Robotic Knee Surgery System. Computer Aided Surgery 6(6), 329–339 (2001)
Cobb, J., Henckel, J., Richards, R., Harris, S., Jakopec, M., Rodriguez, F., Gomes, P.: Robot assisted minimally invasive uni-compartmental arthroplasty: results of first clinical trials. In: Proc. CAOS Int. Conf. 2004, Chicago, pp. 4–6 (2004) ISBN 0-9754971-0-3
Mittelstadt, B.D., Kazanzides, P., Zuhars, J.F., Williamson, B., Cain, P., Smith, F., Bargar, W.L.: The Evolution of a Surgical Robot from Prototype to Human Clinical Use. In: Taylor, R.H., Lavallee, S., Burdea, G.C., Mösges, R. (eds.) Computer-Integrated Surgery: Technology and Clinical Applications, pp. 397–407. The MIT Press, Cambridge (1996)
Siebert, W., Mai, S., Kober, R., Heeckt, P.F.: Technique and First Clinical Results of Robot-Assisted Total Knee Replacement. The Knee 9(3), 173–180 (2002)
Ho, S.C., Hibberd, R.D., Davies, B.L.: Robot Assisted Knee Surgery. IEEE Engineering in Medicine and Biology 14(3), 292–300 (1995)
Harris, S.J., Jakopec, M., Cobb, J., Hibberd, R.D., Davies, B.L.: Interactive Preoperative Selection of Cutting Constraints, and Interactive Force Controlled Knee Surgery by a Surgical Robot. In: Wells, W.M., Colchester, A.C.F., Delp, S.L. (eds.) MICCAI 1998. LNCS, vol. 1496, pp. 996–1006. Springer, Heidelberg (1998)
Harris, S.J., Jakopec, M., Cobb, J., Davies, B.L.: Intra-operative Application of a Robotic Knee Surgery System. In: Taylor, C., Colchester, A. (eds.) MICCAI 1999. LNCS, vol. 1679, pp. 1116–1124. Springer, Heidelberg (1999)
Besl, P.J., McKay, N.D.: A Method for Registration of 3-D Shapes. IEEE Transactions on Pattern Analysis and Machine Intelligence 14(2), 239–256 (1992)
Zhang, Z.: Iterative Point Matching for Registration of Free-Form Curves and Surfaces. International Journal of Computer Vision 13(2), 119–152 (1994)
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2004 Springer-Verlag Berlin Heidelberg
About this paper
Cite this paper
Davies, B.L., Harris, S.J., Rodriguez y Baena, F., Gomes, P., Jakopec, M. (2004). Hands-On Robotic Surgery: Is This the Future?. In: Yang, GZ., Jiang, TZ. (eds) Medical Imaging and Augmented Reality. MIAR 2004. Lecture Notes in Computer Science, vol 3150. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-28626-4_4
Download citation
DOI: https://doi.org/10.1007/978-3-540-28626-4_4
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-22877-6
Online ISBN: 978-3-540-28626-4
eBook Packages: Springer Book Archive