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  • Conference paper
    Jakopec M, Hede BP, Harris SJ, Barrett ARW, Rodriguez y Baena F, Gomes MP, Davies BLD, Cobb JPCet al., 2008,

    The Acrobot Sculptor® robotic system for hands-on orthopaedic surgery

    , Computer Assisted Orthopaedic Surgery, 8th International Annual Meeting of CAOS
  • Conference paper
    Tenzer Y, Davies BLD, Rodriguez y Baena F, 2008,

    Haptics and virtual reality for knee arthroscopy training: Does vibrotactile feedback help?

    , Computer Assisted Orthopaedic Surgery, 8th International Annual Meeting of CAOS
  • Journal article
    Tenzer Y, Davies BLD, Rodriguez y Baena F, 2008,

    Investigation into the Effectiveness of Vibrotactile Feedback to Improve the Haptic Realism of an Arthroscopy Training Simulator

    , Vol: 132, Pages: 517-522
  • Conference paper
    Frasson L, Parittotokkaporn T, Davies BL, Rodriguez y Baena Fet al., 2008,

    Early Developments of a Novel Smart Actuator Inspired by Nature

    , 15th International Conference on Mechatronics and Machine Vision in Practice, Publisher: IEEE, Pages: 163-168
  • Conference paper
    Frasson L, Parittotokkapron T, Schneider A, Davies BLD, Vincent JFV, Degenaar P, Huq SE, Rodriguez y Baena Fet al., 2008,

    Biologically inspired microtexturing: Investigation into the surface topography of next-generation neurosurgical probes

    , Engineering in Medicine and Biology Society, 2008. EMBS 2008. 30th Annual International Conference of the IEEE, Pages: 5611-5614
  • Conference paper
    Tenzer Y, Davies BLD, Rodriguez y Baena F, 2007,

    Vibro-Performance of a Haptic Trainer for Knee Arthroscopy

    , Towards Autonomous Robotic Systems (TAROS) 2007, Pages: 122-127
  • Journal article
    Barrett ARW, Davies BL, Gomes M, Harris SJ, Henckel J, Jakopec M, Kannan V, Ridriguez FMet al., 2007,

    Coputer-assisted hip resurfacing surgery using the Acrobot Navigation System

    , J Engineering in Medicine, Vol: 221, Pages: 773-785, ISSN: 0954-4119

    The authors have previously reported on the laboratory development of the Acrobot Navigation System for accurate computer-assisted hip resurfacing surgery. This paper describes the findings of using the system in the clinical setting and including the improvements that have been made to expedite the procedure. The aim of the present system is to allow accurate planning of the procedure and precise placement of the prosthesis in accordance with the plan, with a zero intraoperative time penalty in comparison to the standard non-navigated technique. At present the navigation system is undergoing final clinical evaluation prior to a clinical study designed to demonstrate the accuracy of outcome compared with the conventional technique. While full results are not yet available, this paper describes the techniques that will be used to evaluate accuracy by comparing pre-operative computed tomography (CT)-based plans with post-operative CT scans. Example qualitative clinical results are included based on visual comparison of the plan with post-operative X-rays.

  • Conference paper
    Nakhla A, Turner A, Rodriguez y Baena F, Harris S, Lewis A, Cobb Jet al., 2007,

    Navigated reduction and fixation of acetabular fractures

    , Computer Assisted Orthopaedic Surgery, 7th International Annual Meeting of CAOS, Pages: 43-45
  • Conference paper
    Henckel J, Richards R, Lozhkin J, Rodriguez y Baena F, Cobb Jet al., 2007,

    The Imperial hip protocol: An optimized very low dose ct protocol for planning and measuring outcome

    , Computer Assisted Orthopaedic Surgery, 7th International Annual Meeting of CAOS, Pages: 475-477
  • Conference paper
    Rodriguez y Baena F, Barrett A, Harris S, Henckel J, Jakopec M, Gomes P, Cobb J, Davies Bet al., 2007,

    A bounded registration method for minimally invasive registration of the femur

    , Computer Assisted Orthopaedic Surgery, 7th International Annual Meeting of CAOS, Pages: 125-127
  • Conference paper
    Barrett A, Davies B, Harris S, 2007,

    Computer assisted hip resurfacing surgery using the Acrobot® navigation system

    , Computer Assisted Orthopaedic Surgery, 7th International Annual Meeting of CAOS, Pages: 166-168
  • Conference paper
    Henckel J, Richards R, Rodriguez y Baena F, Kannan V, Cobb Jet al., 2007,

    Reporting accuracy in hip resurfacing: A 3D CT based method

    , Computer Assisted Orthopaedic Surgery, 7th International Annual Meeting of CAOS, Pages: 664-666
  • Conference paper
    Cobb J, Henckel J, Brust K, Rodriguez y Baena F, Harris S, Jakopec M, Barrett A, Davies Bet al., 2007,

    Accuracy provides enduring functional improvement in arthroplasty:18 months results of robotic assisted unicompartmental knee replacement

    , Berlin, Computer Assisted Orthopaedic Surgery, 7th International Annual Meeting of CAOS, Publisher: Pro Business, Pages: 183-185
  • Journal article
    Davies BL, Rodriguez y Baena F, Barrett AR, Gomes MP, Harris SJ, Jakopec M, Cobb JPet al., 2007,

    Robotic control in knee joint replacement surgery

    , Vol: 221, Pages: 71-80, ISSN: 0954-4119

    A brief history of robotic systems in knee arthroplasty is provided. The place of autonomous robots is then discussed and compared to more recent 'hands-on' robotic systems that can be more cost effective. The case is made for robotic systems to have a clear justification, with improved benefits compared to those from cheaper navigation systems. A number of more recent, smaller, robot systems for knee arthroplasty are also described. A specific example is given of an active constraint medical robot, the ACROBOT system, used in a prospective randomized controlled trial of unicondylar robotic knee arthroplasty in which the robot was compared to conventional surgery. The results of the trial are presented together with a discussion of the need for measures of accuracy to be introduced so that the efficacy of the robotic surgery can be immediately identified, rather than have to wait for a number of years before long-term clinical improvements can be demonstrated.

  • Journal article
    Henckel J, Richards R, Lozhkin K, Harris S, Rodriguez y Baena F, Barrett ARW, Cobb JPet al., 2006,

    Very low-dose computed tomography for planning and outcome measurement in knee replacement - The imperial knee protocol

    , J Bone Joint Surg Br, Vol: 88B, Pages: 1513-1518, ISSN: 0301-620X

    Surgeons need to be able to measure angles and distances in three dimensions in the planning and assessment of knee replacement. Computed tomography (CT) offers the accuracy needed but involves greater radiation exposure to patients than traditional long-leg standing radiographs, which give very little information outside the plane of the image. There is considerable variation in CT radiation doses between research centres, scanning protocols and individual scanners, and ethics committees are rightly demanding more consistency in this area. By refining the CT scanning protocol we have reduced the effective radiation dose received by the patient down to the equivalent of one long-leg standing radiograph. Because of this, it will be more acceptable to obtain the three-dimensional data set produced by CT scanning. Surgeons will be able to document the impact of implant position on outcome with greater precision.

  • Journal article
    Davies BL, Jakopec M, Harris S, Rodriguez Y Baena F, Barrett A, Evangelidis A, Gomes P, Henckel J, Cobb Jet al., 2006,

    Active-constraint robotics for surgery

    , PROCEEDINGS OF THE IEEE, Vol: 94, Pages: 1696-1704, ISSN: 0018-9219
  • Patent
    Rodriguez y Baena F, 2006,

    Model-based positional estimation method

    , WO2006048651
  • Journal article
    Cobb J, Henckel J, Gomes P, Harris S, Jakopec M, Rodriguez F, Barrett A, Davies Bet al., 2006,

    Hands-on robotic unicompartmental knee replacement - A prospective, randomised controlled study

    , Journal of Bone and Joint Surgery, Vol: 88-B, Pages: 188-197, ISSN: 0301-620X

    We performed a prospective, randomised controlled trial of unicompartmental knee arthroplasty comparing the performance of the Acrobot system with conventional surgery. A total of 27 patients (28 knees) awaiting unicompartmental knee arthroplasty were randomly allocated to have the operation performed conventionally or with the assistance of the Acrobot. The primary outcome measurement was the angle of tibiofemoral alignment in the coronal plane, measured by CT. Other secondary parameters were evaluated and are reported. All of the Acrobot group had tibiofemoral alignment in the coronal plane within 2 degrees of the planned position, while only 40% of the conventional group achieved this level of accuracy. While the operations took longer, no adverse effects were noted, and there was a trend towards improvement in performance with increasing accuracy based on the Western Ontario and McMaster Universities Osteoarthritis Index and American Knee Society scores at six weeks and three months. The Acrobot device allows the surgeon to reproduce a pre-operative plan more reliably than is possible using conventional techniques which may have clinical advantages.

  • Journal article
    Davies BL, Rodriguez F, Jakopec M, Harris SJ, Barrett A, Gomes P, Henckel J, Cobb Jet al., 2006,

    The Acrobot® system for robotic mis total knee and uni-condylar arthroplasty

    , International Journal of Humanoid Robotics, Vol: 3, Pages: 417-428, ISSN: 0219-8436

    The concept of the Acrobot® system is described. The technical details of the complete system are then outlined, including the pre-operative planner which incorporates 3D CT models together with CAD models of prostheses that can be used to plan the leg alignment, position the prostheses, plan the shape of the cuts required and generate the regions within which cuts must be constrained. The robotic system is also described, together with the methods for locating and clamping the patient. An outline is given of the means by which the preoperative model is registered or aligned to the intra-operative position of the patient and of the robot, without the need for fiducial markers. Post-operative results are given, for both total knee replacement and also for the more recent clinical trials using a minimally invasive robotic procedure for uni-condylar arthroplasty. © 2006 World Scientific Publishing Company.

  • Conference paper
    Barrett ARW, Harris S, Jakopec M, Rodriguez y Baena F, Davies B, Cobb JP, Gomes Pet al., 2006,

    Minimally invasive computer assisted hip resurfaxcing surgery using the Acrobot navigation system

    , Computer Assisted Orthopaedic Surgery UK, 1st Annual Meeting of CAOSUK, Pages: 32-32

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