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  • JOURNAL ARTICLE
    Frasson L, Parittotokkaporn T, Schneider A, Davies BL, Vincent JV, Huq SE, Degenaar P, Baena FMRet al., 2008,

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

    , Conference proceedings : ... Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Conference, Pages: 5611-5614, ISSN: 1557-170X

    Minimally Invasive (MI) surgery represents the future of many types of medical intervention (keyhole neurosurgery, natural orifice trans-luminal endoscopic surgery, etc.). However, the shortcomings of today's surgical tools fuel the need for the development of next-generation 'smart instrumentation', which will be more accurate and safer for the patient. This paper presents the preliminary results of a biologically inspired microtexturing method, based on UV-lithography, and its application to MI neurosurgery. These results suggest that the size and geometry of the texture 'printed' on the outer surface of a neurosurgical probe clearly affect the insertion and extraction forces generated at the brain-probe interface. Thus, by carefully choosing an appropriate microtexture, unique insertion characteristics can be obtained, which can improve the performance of existing instruments (e.g. reducing slippage in permanent electrodes such as those used in deep brain stimulation) or enable the development of novel designs altogether.

  • CONFERENCE PAPER
    Jakopec M, Hede B, Harris S, Barrett A, Rodriguez y Baena F, Gomes M, Davies B, Cobb Jet al., 2008,

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

    , Computer Assisted Orthopaedic Surgery, 8th International Annual Meeting of CAOS
  • CONFERENCE PAPER
    Schneider A, Frasson L, Parittotokkaporn T, rodriguez y Baena F, Davies B, Huq Set al., 2008,

    Microfabrication of components for a novel biomimetic neurological endoscope

    , 4th International Conference on Multi-Material Micro Manufacture 2008
  • CONFERENCE PAPER
    Tenzer Y, Davies B, 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 B, Rodriguez y Baena F, 2008,

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

    , MEDICINE MEETS VIRTUAL REALITY 16, Vol: 132, Pages: 517-+, ISSN: 0926-9630
  • 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
  • JOURNAL ARTICLE
    Barrett ARW, Davies BL, Gomes MPSF, Harris SI, Henckel J, Jakopec M, Kannan V, Rodriguez y Baena FM, Cobb JPet al., 2007,

    Computer-assisted hip resurfacing surgery using the Acrobot (R) Navigation System

    , PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE, Vol: 221, Pages: 773-785, ISSN: 0954-4119
  • 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 FM, Barrett ARW, Gomes MPSF, Harris SJ, Jakopec M, Cobb JPet al., 2007,

    Robotic control in knee joint replacement surgery

    , PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE, Vol: 221, Pages: 71-80, ISSN: 0954-4119
  • 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
    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
    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
    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
    Tenzer Y, Davies B, 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 MPSF, Harris SJ, Henckel J, Jakopec M, Rodriguez y Baena FM, Cobb JPet al., 2006,

    Preoperative planning and intraoperative guidance for accurate computer-assisted minimally invasive hip resurfacing surgery

    , PROCEEDINGS OF THE INSTITUTION OF MECHANICAL ENGINEERS PART H-JOURNAL OF ENGINEERING IN MEDICINE, Vol: 220, Pages: 759-773, ISSN: 0954-4119
  • 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
  • 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 B, Jakopec M, Harris SJ, Rodriguez y Beana 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
  • 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.

  • JOURNAL ARTICLE
    Davies BL, Rodriguez y Baena F, 2006,

    The acrobot (R) system for robotic mis total knee and uni-condylar arthroplasty

    , INTERNATIONAL JOURNAL OF HUMANOID ROBOTICS, Vol: 3, Pages: 415-428, ISSN: 0219-8436

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