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

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

    , JOURNAL OF BONE AND JOINT SURGERY-BRITISH VOLUME, Vol: 88B, Pages: 1513-1518, ISSN: 0301-620X
  • JOURNAL ARTICLE
    Rodriguez y Baena F, 2006,

    Man and the machine

    , COMPUTING AND CONTROL ENGINEERING, Vol: 17, Pages: 28-31, ISSN: 0956-3385
  • 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
  • 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
  • PATENT
    Rodriguez y Baena F, 2006,

    Model-based positional estimation method

    , WO2006048651
  • 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
  • PATENT
    Rodriguez y Baena F, 2005,

    A tool constraint mechanism

    , WO2007045810
  • 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
  • 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.

  • CONFERENCE PAPER
    Borelli J, Bello F, Rodriguezy Bena F, Davies Bet al., 2004,

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

    , Pages: 31-33, ISSN: 0926-9630

    Master/slave telemanipulator systems can be applied in minimally invasive heart surgery. However, due to the beating heart and difficulties of finding inner points inside the heart, a surgical task operation such as cutting can be very difficult. In order to avoid surgical error, the «active constraint» concept can be applied. This paper shows an example of an «active constraint» environment used for minimally invasive heart surgery. Experiments have been carried out for a 2-DOF master and the preliminary results validate the present approach.

  • 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
    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
  • JOURNAL ARTICLE
    Davies BL, Harris SJ, Rodriguez y Baena F, Gomes P, Jakopec Met al., 2004,

    Hands-on robotic surgery: Is this the future?

    , MEDICAL IMAGING AND AUGMENTED REALITY, PROCEEDINGS, Vol: 3150, Pages: 27-37, ISSN: 0302-9743
  • 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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