Publications
219 results found
Cobb J, Henckel J, Gomes P, et al., 2006, Hands-on robotic unicompartmental knee replacement - A prospective, randomised controlled study, Journal of Bone and Joint Surgery, Vol: 88-B, Pages: 188-197, ISSN: 0301-620X
We performed a prospective, randomised controlled trial of unicompartmental knee arthroplasty comparing the performance of the Acrobot system with conventional surgery. A total of 27 patients (28 knees) awaiting unicompartmental knee arthroplasty were randomly allocated to have the operation performed conventionally or with the assistance of the Acrobot. The primary outcome measurement was the angle of tibiofemoral alignment in the coronal plane, measured by CT. Other secondary parameters were evaluated and are reported. All of the Acrobot group had tibiofemoral alignment in the coronal plane within 2 degrees of the planned position, while only 40% of the conventional group achieved this level of accuracy. While the operations took longer, no adverse effects were noted, and there was a trend towards improvement in performance with increasing accuracy based on the Western Ontario and McMaster Universities Osteoarthritis Index and American Knee Society scores at six weeks and three months. The Acrobot device allows the surgeon to reproduce a pre-operative plan more reliably than is possible using conventional techniques which may have clinical advantages.
Davies BL, Rodriguez F, Jakopec M, et al., 2006, The Acrobot® system for robotic mis total knee and uni-condylar arthroplasty, International Journal of Humanoid Robotics, Vol: 3, Pages: 417-428, 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. © 2006 World Scientific Publishing Company.
Rodriguez y Baena F, 2006, Man and the machine, Comput Control Eng, Vol: 17, Pages: 28-31, ISSN: 0956-3385
Brian Davies, Ferdinando Rodriguez, Matja Jakopec, et 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.
Cobb J, Henckel J, Gomes P, et 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
Davies BL, Rodriguez y Baena F, Harris SJ, et 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
Harris S, Jakopec M, Rodriguez y Baena F, et al., 2006, Computer based planning for hip resurfacing surgery, London, Computer Assisted Orthopaedic Surgery UK, 1st Annual Meeting of CAOSUK, Pages: 48-48
Harris S, Jakopec M, Rodriguez y Baena F, et 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
Harris S, Jakopec M, Rodriguez y Baena F, et 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
Barrett ARW, Harris S, Jakopec M, et al., 2006, Minimally invasive computer assisted hip resurfaxcing surgery using the Acrobot navigation system, Computer Assisted Orthopaedic Surgery UK, 1st Annual Meeting of CAOSUK, Pages: 32-32
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
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
Rodriguez y Baena F, Cobb J, Henckel J, et 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.
Cobb J, Henckel J, Richards RW, et al., 2005, Robot assistance improves outcomes in small incision unicompartmental knee arthroplasty (Article no.75), American Academy of Orthopaedic Surgeons
Cobb J, Henckel J, Harris S, et 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
Cobb J, Barrett ARW, Harris S, et 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
Rodriguez y Baena F, Cobb J, Henckel J, et 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
Harris S, Jakopec M, Rodriguez y Baena F, et 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
Cobb J, Henckel J, Harris S, et 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
Davies BL, Harris SJ, Rodriguez y Baena F, et al., 2004, Hands-On Robotic Surgery: Is This the Future?, Lecture Notes in Computer Science, Vol: 3150, Pages: 27-37, ISSN: 0302-9743
Cobb J, Henckel J, Richards RW, et 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
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
Borelli J, Bello F, Bena FR, et al., 2004, An active constraint environment for minimally invasive heart surgery: early experience of a cutting operation, MEDICINE MEETS VIRTUAL REALITY 12, Vol: 98, Pages: 31-33, ISSN: 0926-9630
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Harris S, Jakopec M, Rodriguez y Baena F, et al., 2004, Robotic surgery: are hands-on robots the future?, Mechatronics and Robotics, Pages: 1441-1445
Davies BL, Harris SJ, Rodriguez y Baena F, et al., 2003, Apparatus and method for registering the position of a surgical robot, WO03043515
Cobb J, Henckel J, Gomes P, et 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
Jakopec M, Harris SJ, Rodriguez y Baena F, et 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.
Rodriguez y Baena F, Cobb J, Gomes P, et 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
Jakopec M, Rodriguez y Baena F, Harris SJ, et 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.
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