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

    An active constraint robot improves outcomes in total knee arthroplasty

    , Marbella, Computer Assisted Orthopaedic Surgery, 3rd International Annual Meeting of CAOS, 18 - 21 June 2003, Marbella, Spain, Publisher: Springer, Pages: 64-65
  • PATENT
    Davies BL, Harris SJ, Rodriguez y Baena F, Jakopec Met al., 2003,

    Apparatus and method for registering the position of a surgical robot

    , WO03043515
  • CONFERENCE PAPER
    Harris S, Henckel J, Gomes P, Rodriguez y Baena F, Cobb J, Davies Bet al., 2003,

    The use of X-ray computerized tomography to measure the accuracy of total knee arthroplasty

    , Marbella, Computer Assisted Orthopaedic Surgery, 3rd International Annual Meeting of CAOS, Publisher: Springer, Pages: 142-143
  • JOURNAL ARTICLE
    Jakopec M, Harris SJ, Rodriguez y Baena F, Gomes P, Davies BLet al., 2003,

    The Acrobot (R) system for total knee replacement

    , INDUSTRIAL ROBOT-AN INTERNATIONAL JOURNAL, Vol: 30, Pages: 61-66, ISSN: 0143-991X
  • 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 TRANSACTIONS ON ROBOTICS AND AUTOMATION, Vol: 19, Pages: 902-911, ISSN: 1042-296X
  • CONFERENCE PAPER
    Rodriguez y Baena F, Cobb J, Gomes P, Harris S, Jakopec M, Davies Bet al., 2003,

    Fast and efficient registration for hands-on robotic assisted knee surgery

    , Marbella, Computer Assisted Orthopaedic Surgery, 3rd International Annual Meeting of CAOS, Publisher: Springer, Pages: 74-75
  • 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
    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
    Jakopec M, Harris SJ, Rodriguez y Baena F, 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 BERLIN, Pages: 256-263, ISSN: 0302-9743
  • CONFERENCE PAPER
    Jakopec M, Harris SJ, Rodriguez y Baena F, Gomes P, Davies BLet al., 2002,

    Acrobot: a "hands-on" robot for total knee replacement surgery

    , 7th International Workshop on Advanced Motion Control, 3 5 July 2002, MARIBOR, SLOVENIA, Publisher: IEEE Service Center, Pages: 116-120
  • 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
  • CONFERENCE PAPER
    Rodriguez y Baena F, Jakopec M, Harris SJ, Gomes, MPSF, Dobb J, Davies BLet al., 2002,

    Anatomical registration implementation and results for a "hands-on" robotic knee surgery system

    , Santa Fe, 2nd Annual conference CAOS, Santa Fe, 19 - 22 June 2002, Publisher: Sweeney Convention Center, Pages: 101-102
  • 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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