Praxiteles: a miniature bone-mounted robot for minimal access total knee arthroplasty

We have been working to develop a compact, accurate, safe, and easy‐to‐use surgical robot for minimally invasive total knee arthroplasty (TKA). The goal of our bone‐mounted robot, named Praxiteles, is to precisely position a surgical bone‐cutting guide in the appropriate planes surrounding the knee,...

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Bibliographic Details
Published in:The international journal of medical robotics + computer assisted surgery 2005-12, Vol.1 (4), p.67-79
Main Authors: Plaskos, C, Cinquin, P, Lavallée, S, Hodgson, A J
Format: Article
Language:English
Subjects:
Arthroplasty, Replacement, Knee - methods
Biomechanical Phenomena
bone milling
Cadaver
Computer-assisted orthopaedic surgery
Equipment Design
Ergonomics
Humans
medical robotics
Miniaturization
Minimally Invasive Surgical Procedures - methods
minimally invasive total knee arthroplasty
Reproducibility of Results
robot-aided surgery
Robotics - instrumentation
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Summary:We have been working to develop a compact, accurate, safe, and easy‐to‐use surgical robot for minimally invasive total knee arthroplasty (TKA). The goal of our bone‐mounted robot, named Praxiteles, is to precisely position a surgical bone‐cutting guide in the appropriate planes surrounding the knee, so that the surgeon can perform the planar cuts manually using the guide. The robot architecture is comprised of 2 motorized degrees of freedom (DoF) whose axes of rotation are arranged in parallel, and are precisely aligned to the implant cutting planes with a 2 DoF adjustment mechanism. Two prototypes have been developed and tested on saw bones and cadavers –an initial one for open TKA surgery and a new version for MIS TKA, which mounts on the side of the knee. A novel bone‐milling technique is also presented that uses passive guide and a side milling tool. Copyright © 2005 John Wiley & Sons, Ltd.
ISSN:1478-5951
1478-596X
DOI:10.1002/rcs.59