MBARS: mini bone-attached robotic system for joint arthroplasty

A report on a new active, miniature bone‐attached, robotic system including its design, high level and low level control, is given together with a description of the system implementation and first experimental use. The system is capable of preparing the bone cavity for an implant during joint arthr...

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Bibliographic Details
Published in:The international journal of medical robotics + computer assisted surgery 2005-01, Vol.1 (2), p.101-121
Main Authors: Wolf, A, Jaramaz, B, Lisien, B, DiGioia, A M
Format: Article
Language:English
Subjects:
Arthroplasty - instrumentation
Arthroplasty - methods
Arthroplasty, Replacement, Knee - methods
Bone and Bones - surgery
bone-attached robot
Feasibility Studies
Humans
joint arthroscopy
medical robot
Miniaturization
minimally invasive surgery
Minimally Invasive Surgical Procedures - methods
Patient Care Planning
Robotics - instrumentation
Surgical Equipment
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Summary:A report on a new active, miniature bone‐attached, robotic system including its design, high level and low level control, is given together with a description of the system implementation and first experimental use. The system is capable of preparing the bone cavity for an implant during joint arthroplasty procedures. Without loss of generality, the report describes the implementation of the system for a Patellofemoral Joint Replacement procedure. The system is image‐free and all planning is performed intra‐operatively in the robot coordinate system, eliminating the need for external tracking systems in the operating room. Experiments were conducted using the first robot prototype and the results supported the feasibility of the concept. The methodology which is presented can be modified to other orthopaedic procedures and could improve the results in terms of accuracy and operational time. Moreover, it enables minimally invasive procedures and use of the next generation of more anatomically shaped implants. Copyright © 2005 Robotic Publications Ltd.
ISSN:1478-5951
1478-596X
DOI:10.1002/rcs.20