Intra-operative application of a robotic knee surgery system

Abstract

A robotic system is described with associated components for registration and fixation capable of performing total knee replacement (TKR) surgery. The robot uses an active constraint concept allowing it to work with the surgeon, allowing him to cut flat planes required for a standard TKR prosthesis in the tibia and femur. The human-computer interface for this co-operative scheme is described. Experiments are described that test the robot’s basic accuracy. Trials with plastic bone phantoms have been used to calibrate the system, after which tests on cadaveric legs have shown a good fit between the bone and prosthesis.