The Acrobot system for robotic uni-condylar arthroplasty
Brian Davies, Matjaz Jakopec, Simon Harris, Ferdinando Rodriguez, Paula Gomes and Justin Cobb
In: Proc. Int. Conf. Knee Arthroplasty: Engineering Functionality, 7-9 April 2005, London, UK.

Abstract

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, 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.

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