Abstract
This paper describes a low-cost computer system that takes CT images of the knee, and with three-dimensional models of knee prostheses allows a surgeon to position the prosthesis correctly pre-operatively in an interactive manner. Once in position the computer can process bone and prosthesis geometry to derive a set of constraint boundaries that constitute a safe cutting area for a force controlled robot (i.e. that avoids soft tissue such as ligaments), and provides the correct cutting planes for good prosthesis/bone alignment. This boundary information is used to program the robot, allowing a surgeon to move the robot within predefined regions to machine away bone accurately whilst preventing damage to soft tissue.
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© 1998 Springer-Verlag Berlin Heidelberg
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Harris, S.J., Jakopec, M., Hibberd, R.D., Cobb, J., Davies, B.L. (1998). Interactive pre-operative selection of cutting constraints, and interactive force controlled knee surgery by a surgical robot. In: Wells, W.M., Colchester, A., Delp, S. (eds) Medical Image Computing and Computer-Assisted Intervention — MICCAI’98. MICCAI 1998. Lecture Notes in Computer Science, vol 1496. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0056288
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DOI: https://doi.org/10.1007/BFb0056288
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