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  • Journal article
    Rodriguez y Baena F, 2006,

    Man and the machine

    , Comput Control Eng, Vol: 17, Pages: 28-31, ISSN: 0956-3385
  • Conference paper
    Rodriguez y Baena F, 2006,

    Registration methods - image based and image free - an overview

    , Computer Assisted Orthopaedic Surgery UK, 1st Annual Meeting of CAOSUK, Pages: 22-22
  • Conference paper
    Rodriguez y Baena F, 2006,

    Intra-operative image registration for minimally invasive surgery - accuracy, protocols, novel algorithms, etc.

    , Computer Assisted Orthopaedic Surgery UK, 1st Annual Meeting of CAOSUK, Pages: 21-21
  • Journal article
    Davies BL, Rodriguez y Baena F, Harris SJ, Jakopec M, Barrett ARW, Gomes, MPFS, Cobb JPet al., 2006,

    An overview of the Acrobot(R) robotic surgical system for minimally invasive unicompartmental knee arthroplasty

    , Journal of Biomechanics, Vol: 39(Supplement 1), Pages: S211-S216, ISSN: 0021-9290
  • Journal article
    Cobb J, Henckel J, Gomes P, Harris S, Jakopec M, Rodriguez y Baena F, Barrett A, Davies Bet al., 2006,

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

    , Journal of Engineering in Medicine, Proceedings of the Institution of Mechanical Engineers, Part H, ISSN: 0954-4119
  • Patent
    Rodriguez y Baena F, 2005,

    A tool constraint mechanism

    , WO2007045810
  • Conference paper
    Cobb J, Barrett ARW, Harris S, Jakopec M, Rodriguez y Baena F, Davies Bet al., 2005,

    The Tubes system for minimally invasive computer assisted hip resurfacing surgery, computer assisted orthopaedic surgery

    , Computer Assisted Orthopaedic Surgery, 5th International Annual Meeting of CAOS, Publisher: Pro BUSINESS GmbH, Pages: 22-25
  • Conference paper
    Cobb J, Henckel J, Harris S, Jakopec M, Rodriguez y Baena F, Davies Bet al., 2005,

    Accuracy in arthroplasty - a three-dimensional CT based measurement study

    , Computer Assisted Orthopaedic Surgery, 5th International Annual Meeting of CAOS, Publisher: Pro BUSINESS GmbH, Pages: 165-167
  • Conference paper
    Cobb J, Henckel J, Richards RW, Harris S, Jakopec M, Rodriguez y Baena F, Davies Bet al., 2005,

    Robot assistance improves outcomes in small incision unicompartmental knee arthroplasty (Article no.75)

    , American Academy of Orthopaedic Surgeons
  • Conference paper
    Cobb J, Henckel J, Richards RW, Harris S, Jakopec M, Rodriguez y Baena F, Davies B, Gomes Pet al., 2004,

    Robot assisted minimally invasive unicompartmental knee arthroplasty: results of first clinical trials

    , Computer Assisted Orthopaedic Surgery, 4th Annual Meeting of CAOS International, Publisher: CAOS, Pages: 4-6
  • Conference paper
    Borelli J, Rodriguez y Baena F, Davies B, 2004,

    An active constraint environment for minimally invasive heart surgery: early experience of a cutting operation

    , Medicine Meets Virtual Reality 12: Building a better you: the next tools for medical education diagnosis and care, Publisher: IOS Press, Pages: 31-33
  • Conference paper
    Harris S, Jakopec M, Rodriguez y Baena F, Davies B, Barrett ARW, Gomes Pet al., 2004,

    Robotic surgery: are hands-on robots the future?

    , Mechatronics and Robotics, Pages: 1441-1445
  • Journal article
    Jakopec M, Rodriguez y Baena F, Harris SJ, Gomes P, Cobb J, Davies BLet al., 2003,

    The hands-on orthopaedic robot "Acrobot": Early clinical trials of total knee replacement surgery

    , Ieee T Robotic Autom, Vol: 19, Pages: 902-911, ISSN: 1042-296X

    A "hands-on" robotic system for total knee replacement (TKR) surgery is presented. A computer tomography-based preoperative planning software is used to accurately plan the procedure. Intraoperatively, the surgeon guides a small special-purpose robot, called Acrobot, 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 prosthesis with high precision. A noninvasive anatomical registration method is described. The system has been successfully used in seven clinical trials with encouraging results.

  • Conference paper
    Cobb J, Henckel J, Gomes P, Harris S, Jakopec M, Rodriguez y Baena F, Davies Bet al., 2003,

    Evolution of the next generation acrobot orthopaedic surgery robot, computer assisted orthopaedic surgery

    , Marbella, Computer Assisted Orthopaedic Surgery, 3rd International Annual Meeting of CAOS, 18 - 21 June 2003, Marbella, Spain, Publisher: Springer, Pages: 152-153
  • Journal article
    Jakopec M, Harris SJ, Rodriguez y Baena F, Gomes P, Davies BLet al., 2003,

    The Acrobot (R) system for total knee replacement

    , Ind Robot, Vol: 30, Pages: 61-66, ISSN: 0143-991X

    A "hands-on" robotic system for total knee replacement (TKR) surgery is presented. Computed tomography (CT) based software is used to accurately plan the procedure pre-operatively. Intra-operatively, the surgeon guides a small, special-purpose robot, called Acrobot(R), which is mounted on a gross positioning device. The Acrobot uses active constraint control, which constrains the motion to a pre-defined region, and thus allows the surgeon to safely cut the knee bones to fit a TKR prosthesis with high precision. A non-invasive anatomical registration method is used. The system has undergone early clinical trials with very promising outcomes.

  • Conference paper
    Cobb J, Henckel J, Harris SJ, Jakopec M, Rodriguez y Baena F, Gomes, MPSF, Davies BLet al., 2002,

    First clinical trials of a "hands-on" Active Constraint robot

    , Santa Fe, Computer Assisted Orthopaedic Surgery, 2nd International Annual Meeting of CAOS, Publisher: Sweeney Convention Center, Pages: 46-47
  • Conference paper
    Cobb J, Gomes P, Harris S, Jakopec M, Rodriguez y Baena Fet al., 2002,

    A planning system for active constraint robot knee surgery

    , Computer Assisted Orthopaedic Surgery, 2nd International Annual Meeting of CAOS, Publisher: Sweeney Convention Center, Pages: 252-253
  • Conference paper
    Jakopec M, Harris SJ, Baena RY, Gomes PG, Cobb J, Davies BLet al., 2002,

    Preliminary results of an early clinical experience with the Acrobot (TM) system for total knee replacement surgery

    , 5th International Conference on Medical Image Computing and Computer-Assisted Intervention, Publisher: SPRINGER-VERLAG NEW YORK, MS INGRID CUNNINGHAM, 175 FIFTH AVE, NEW YORK, NY 10010 USA, Pages: 256-263, ISSN: 0302-9743

    Early clinical experience with a "hands-on" robotic system for total knee replacement surgery is presented. The system consists of a pre-operative CT based planning software, a small special purpose robot called Acrobot (active constraint robot) mounted on a gross positioning device and special leg fixtures. The surgeon guides the Acrobot under active constraint control, which constrains the motion into a predefined region, and thus allows surfaces of the bones to be machined safely and with high accuracy. A non-invasive anatomical registration method is used. The system was clinically tested on 7 patients with encouraging results.

  • Conference paper
    Jakopec M, Rodriguez y Baena F, Jakopec H, Harris SJ, Gomes, MPSF, Cobb J, Davies BLet al., 2002,

    Intraoperative user interface of a "hands-on" surgical robot

    , Santa Fe, Computer Assisted Orthopaedic Surgery, 2nd International Annual Meeting of CAOS, Publisher: Sweeney Convention Center, Pages: 115-116
  • Journal article
    Jakopec M, Harris SJ, Rodriguez y Baena F, Gomes P, Cobb J, Davies BLet al., 2001,

    The first clinical application of a "Hands-On" robotic knee surgery system

    , Computer Aided Surgery, Vol: 6, Pages: 329-339, ISSN: 1092-9088

    The performance of a novel "hands-on" robotic system for total knee replacement (TKR) surgery is evaluated. An integrated robotic system for accurately machining the bone surfaces in TKR surgery is described. Details of the system, comprising an "active constraint" robot, called Acrobot, a "gross positioning" robot, and patient clamps, are provided. The intraoperative protocol and the preoperative, CT-based, planning system are also described. A number of anatomical registration and cutting trials, using plastic bones, are described, followed by results from two preliminary clinical trials, which demonstrate the accuracy achieved in the anatomical registration. Finally, the first clinical trial is described, in which the results of the anatomical registration and bone cutting are seen to be of high quality. The Acrobot system has been successfully used to accurately register and cut the knee bones in TKR surgery. This demonstrates the great potential of a "hands-on" robot for improving accuracy and increasing safety in surgery.

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