Robot-Assisted Total Knee Arthroplasty: Investigation of the Feasibility and Accuracy of the Robotic Process

摘要

The technique of total knee arthroplasty could be improved if there existed a method for making bone cuts on the distal end of the femur which were (1) an exact press-fit to the femoral prosthetic component, (2) smooth, and (3) in proper alignment with respect to bones and soft tissues. Using an industrial robot, current mathematical concepts and specially designed fixtures, a robotic process was developed which achieved near press-fit cuts. The resultant cuts were smooth to within a few thousandths of an inch and allowed the accurate placement of the prosthetic component on the femur to within .51 millimeters in translation and .64 degrees in rotation. The robotic process was comprised of three phases: (1) planning, (2) orientation, and (3) cut generation. The Planning Phase established the desired femur-prosthesis positional relationship. The Orientation Phase established the location of the femur in the work volume of the robot and the subsequent location of all necessary cuts. The cut Generation Phase produced the bone cuts which allowed the prosthesis to be mounted on the femur. The resulting cuts far surpass in precision and accuracy those obtained with conventional surgical methods. (Author)