An Image-Directed Robotic System for Precise Orthopaedic Surgery

Russell H. Taylor; Brent D. Mittelstadt; Howard A. Paul; William Hanson; Peter Kazanzides; Joel F. Zuhars; Bill Williamson; Bela L. Musits; Edward Glassman; William L. Bargar

doi:10.1109/70.294202

An Image-Directed Robotic System for Precise Orthopaedic Surgery

Russell H. Taylor, Brent D. Mittelstadt, Howard A. Paul, William Hanson, Peter Kazanzides, Joel F. Zuhars, Bill Williamson, Bela L. Musits, Edward Glassman, William L. Bargar

Research output: Contribution to journal › Article › peer-review

221 Scopus citations

Abstract

We have developed an image-directed robotic system to augment the performance of human surgeons in precise bone machining procedures in orthopaedic surgery, initially targeted at cementless total hip replacement surgery. The total system consists of an interactive CT-based presurgical planning component and a surgical system consisting of a robot, redundant motion monitoring, and man-machine interface components. In vitro experiments conducted with this system have demonstrated an order-of-magnitude improvement in implant fit and placement accuracy, compared to standard manual preparation techniques. The first generation system described in this paper was used in a successful veterinary clinical trial on 26 dogs needing hip replacement surgery. It was the basis for subsequent development of a second-generation system that is now in human clinical trials.

Original language	English (US)
Pages (from-to)	261-275
Number of pages	15
Journal	IEEE Transactions on Robotics and Automation
Volume	10
Issue number	3
DOIs	https://doi.org/10.1109/70.294202
State	Published - Jun 1994
Externally published	Yes

ASJC Scopus subject areas

Control and Systems Engineering
Electrical and Electronic Engineering

Access to Document

10.1109/70.294202

Cite this

@article{b5f478edd09645fab06de6a1f294fd09,

title = "An Image-Directed Robotic System for Precise Orthopaedic Surgery",

abstract = "We have developed an image-directed robotic system to augment the performance of human surgeons in precise bone machining procedures in orthopaedic surgery, initially targeted at cementless total hip replacement surgery. The total system consists of an interactive CT-based presurgical planning component and a surgical system consisting of a robot, redundant motion monitoring, and man-machine interface components. In vitro experiments conducted with this system have demonstrated an order-of-magnitude improvement in implant fit and placement accuracy, compared to standard manual preparation techniques. The first generation system described in this paper was used in a successful veterinary clinical trial on 26 dogs needing hip replacement surgery. It was the basis for subsequent development of a second-generation system that is now in human clinical trials.",

author = "Taylor, {Russell H.} and Mittelstadt, {Brent D.} and Paul, {Howard A.} and William Hanson and Peter Kazanzides and Zuhars, {Joel F.} and Bill Williamson and Musits, {Bela L.} and Edward Glassman and Bargar, {William L.}",

year = "1994",

month = jun,

doi = "10.1109/70.294202",

language = "English (US)",

volume = "10",

pages = "261--275",

journal = "IEEE Transactions on Robotics and Automation",

issn = "1042-296X",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "3",

}

TY - JOUR

T1 - An Image-Directed Robotic System for Precise Orthopaedic Surgery

AU - Taylor, Russell H.

AU - Mittelstadt, Brent D.

AU - Paul, Howard A.

AU - Hanson, William

AU - Kazanzides, Peter

AU - Zuhars, Joel F.

AU - Williamson, Bill

AU - Musits, Bela L.

AU - Glassman, Edward

AU - Bargar, William L.

PY - 1994/6

Y1 - 1994/6

N2 - We have developed an image-directed robotic system to augment the performance of human surgeons in precise bone machining procedures in orthopaedic surgery, initially targeted at cementless total hip replacement surgery. The total system consists of an interactive CT-based presurgical planning component and a surgical system consisting of a robot, redundant motion monitoring, and man-machine interface components. In vitro experiments conducted with this system have demonstrated an order-of-magnitude improvement in implant fit and placement accuracy, compared to standard manual preparation techniques. The first generation system described in this paper was used in a successful veterinary clinical trial on 26 dogs needing hip replacement surgery. It was the basis for subsequent development of a second-generation system that is now in human clinical trials.

AB - We have developed an image-directed robotic system to augment the performance of human surgeons in precise bone machining procedures in orthopaedic surgery, initially targeted at cementless total hip replacement surgery. The total system consists of an interactive CT-based presurgical planning component and a surgical system consisting of a robot, redundant motion monitoring, and man-machine interface components. In vitro experiments conducted with this system have demonstrated an order-of-magnitude improvement in implant fit and placement accuracy, compared to standard manual preparation techniques. The first generation system described in this paper was used in a successful veterinary clinical trial on 26 dogs needing hip replacement surgery. It was the basis for subsequent development of a second-generation system that is now in human clinical trials.

UR - http://www.scopus.com/inward/record.url?scp=0028442914&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=0028442914&partnerID=8YFLogxK

U2 - 10.1109/70.294202

DO - 10.1109/70.294202

M3 - Article

AN - SCOPUS:0028442914

SN - 1042-296X

VL - 10

SP - 261

EP - 275

JO - IEEE Transactions on Robotics and Automation

JF - IEEE Transactions on Robotics and Automation

IS - 3

ER -

An Image-Directed Robotic System for Precise Orthopaedic Surgery

Abstract

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this