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  • 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
  • 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
  • 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
  • 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
  • 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
    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
  • 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
    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
    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 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, 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
    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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