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 journalArticle

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 languageEnglish (US)
Pages (from-to)261-275
Number of pages15
JournalIEEE Transactions on Robotics and Automation
Volume10
Issue number3
DOIs
StatePublished - 1994
Externally publishedYes

Fingerprint

Orthopedics
Surgery
Robotics
Machining
Bone
Robots
Planning
Monitoring
Experiments

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Electrical and Electronic Engineering

Cite this

Taylor, R. H., Mittelstadt, B. D., Paul, H. A., Hanson, W., Kazanzides, P., Zuhars, J. F., ... Bargar, W. L. (1994). An Image-Directed Robotic System for Precise Orthopaedic Surgery. IEEE Transactions on Robotics and Automation, 10(3), 261-275. https://doi.org/10.1109/70.294202

An Image-Directed Robotic System for Precise Orthopaedic Surgery. / Taylor, Russell H; Mittelstadt, Brent D.; Paul, Howard A.; Hanson, William; Kazanzides, Peter; Zuhars, Joel F.; Williamson, Bill; Musits, Bela L.; Glassman, Edward; Bargar, William L.

In: IEEE Transactions on Robotics and Automation, Vol. 10, No. 3, 1994, p. 261-275.

Research output: Contribution to journalArticle

Taylor, RH, Mittelstadt, BD, Paul, HA, Hanson, W, Kazanzides, P, Zuhars, JF, Williamson, B, Musits, BL, Glassman, E & Bargar, WL 1994, 'An Image-Directed Robotic System for Precise Orthopaedic Surgery', IEEE Transactions on Robotics and Automation, vol. 10, no. 3, pp. 261-275. https://doi.org/10.1109/70.294202
Taylor, Russell H ; Mittelstadt, Brent D. ; Paul, Howard A. ; Hanson, William ; Kazanzides, Peter ; Zuhars, Joel F. ; Williamson, Bill ; Musits, Bela L. ; Glassman, Edward ; Bargar, William L. / An Image-Directed Robotic System for Precise Orthopaedic Surgery. In: IEEE Transactions on Robotics and Automation. 1994 ; Vol. 10, No. 3. pp. 261-275.
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