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 ® , 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.
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Jakopec et al. (2003) studied this question.
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