A Computer-Assisted Total Knee Replacement Surgical System Using a Calibrated Robot

Abstract

In the surgical replacement of the knee joint, accurate alignment of prosthetic components with respect to the mechanical axis of the leg is essential to the mobility Page 2 and possibly the longevity of the joint. The correct alignment is not obvious during surgery because the long bones are largely obscured by tissue. An integrated system has been developed that allows the surgeon to accurately place prosthetic components during total knee surgery. A graphics computer displaying a 3-dimensional model of the patient's knee is used to perform accurate and informed preoperative planning. In the operating room, a robot and specially designed fixturing aid the surgeon in performing the bone resections as determined in the preoperative plan. Crucial to the accuracy of this system is the rigid immobilization of the involved bones (fixturing), the robot's ability to determine their exact locations in space (registration), and the accuracy of the robot itself (parameter identification). An overview of the system is presented here, as well as discussion