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  • Journal article
    Brian Davies, Ferdinando Rodriguez, Matja Jakopec, Simon J Harris, Adrian Barrett, Paula Gomes, Johan Henckel, Jusitn P Cobbet al., 2006,

    The Acrobot® System for Robotic MIS Total Knee and Uni-Condylar Arthroplasty

    , International Journal of Humanoid Robotics, Vol: 3, Pages: 415-428, 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.

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

    Computer based planning for hip resurfacing surgery

    , London, Computer Assisted Orthopaedic Surgery UK, 1st Annual Meeting of CAOSUK, Pages: 48-48
  • 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
    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
  • 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
  • Conference paper
    Harris S, Jakopec M, Rodriguez y Baena F, Davies B, Barrett ARW, Cobb JP, Gomes P, Henckel Jet al., 2006,

    Results of a regulated clinical trial of the Acrobot Sculptor Hands-On Robotic System for unicompartmental knee arthroplasty

    , Computer Assisted Orthopaedic Surgery UK, 1st Annual Meeting of CAOSUK, 10 - 11 February 2006, London Heathrow, UK, Pages: 21-21
  • Conference paper
    Harris S, Jakopec M, Rodriguez y Baena F, Davies B, Barrett ARW, Cobb JP, Gomes P, Henckel Jet al., 2006,

    The use of computer tomography (CT) to measure the accuracy of computer assisted knee arthroplasty

    , Computer Assisted Orthopaedic Surgery UK, 1st Annual Meeting of CAOSUK
  • Journal article
    Rodriguez y Baena F, 2006,

    Man and the machine

    , Comput Control Eng, Vol: 17, Pages: 28-31, ISSN: 0956-3385
  • Journal article
    Rodriguez y Baena F, Cobb J, Henckel J, Gomes P, Harris S, Jakopec M, Barrett A, Davies Bet al., 2005,

    Robotic clinical trials of uni-condylar arthroplasty

    , International Journal of Medical Robotics and Computer Assisted Surgery, Vol: 1, Pages: 20-28, ISSN: 1478-5951

    A randomised clinical trial has been completed for uni-condylar arthroplasty. The trial, under the auspices of the UK MHRA, comprised 15 knees of patients undergoing conventional surgery, and 13 knees of patients who had robotic surgery using the Acrobot (R) hands-on robotic system. The results of the trial were checked by comparing post-op CT scans with pre-op CT-based plans, and show a significant improvement in accuracy using the robot. The technical concept of the Acrobot (R) approach is also described. Details of the complete system are outlined, including the pre-operative planner. The plan incorporates 3D CT models of the leg, 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, clamping, cutting and monitoring 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. Results of the randomised clinical trial are also discussed. Copyright (c) 2005 John Wiley & Sons, Ltd.

  • Patent
    Rodriguez y Baena F, 2005,

    A tool constraint mechanism

    , WO2007045810
  • 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
    Rodriguez y Baena F, Cobb J, Henckel J, Barrett ARW, Jakopec M, Davies Bet al., 2005,

    Robust registration in robotic assisted unicompartmental knee arthroplasty - the region-based point acquisition protocol

    , Computer Assisted Orthopaedic Surgery, 5th International Annual Meeting of CAOS, 19 - 22 June 2005, Helsinki, Finland, Publisher: Pro BUSINESS GmbH, Pages: 386-389
  • 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, 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
  • Journal article
    Davies BL, Harris SJ, Rodriguez y Baena F, Gomes MP, Jakopec Met al., 2004,

    Hands-On Robotic Surgery: Is This the Future?

    , Lecture Notes in Computer Science, Vol: 3150, Pages: 27-37, ISSN: 0302-9743
  • 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
  • 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
    Cobb J, Henckel J, Harris S, Jakopec M, Rodriguez y Baena F, Davies B, Barrett ARWet al., 2004,

    Computer assisted arthroplasty; Appropriate imaging for assessment of implant position

    , Computer Assisted Orthopaedic Surgery, 4th Annual Meeting of CAOS International, 17 - 19 June 2004, Chicago, USA, Publisher: CAOS, Pages: 281-282
  • Conference paper
    Harris S, Jakopec M, Rodriguez y Baena F, Davies B, Barrett ARWet al., 2004,

    Computer assisted knee arthroplasty; Extent of implant error

    , Computer Assisted Orthopaedic Surgery, 4th International Annual Meeting of CAOS, 17 - 19 June 2004, Chicago, USA, Publisher: CAOS, Pages: 206-207

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