The variables involved in a robotic THA can exceed 52: many parameters as pelvic orientation with CT scan, templating, offset, and leg-length, acetabular reaming, femoral osteotomy, mapping the anatomy; predefining safe zones, robotic execution, femoral head size, thickness of PE etc. with several variables for each parameter, with a total number of variables exceeding 52. This familiar number is the number of cards in a standard deck. The number of possible combinations (factorial 52! = 10^67) to shuffle the cards (and may be to perform a THA) is greater than the number of atoms on earth! Thinking that artificial intelligence and robotics can solve these problems, some surgeons and implant manufacturers have turned to artificial intelligence and robotics. We asked two questions:1) can robot with artificial intelligence really process 52 variables that represent 10^67 combinations? 2) the safety of the technology was ascertained by interrogating Food and Drug Administration (FDA) database about software-related recalls in computer-assisted and robotic arthroplasty [1], between 2017 and 2022. 1). The best computers can only calculate around 100 thousand billion combinations (10^14), and with difficulty: it takes more than 100 days to arrive at this number of digits (10^14) after the decimal point for the number π (pi). We can, therefore, expect the robot to be imperfect. 2). For the FDA software-related recalls, 4634 units were involved. The FDA determined root causes were: software design (66.6%), design change (22.2%), manufacturing deployment (5.6%), design manufacturing process (5.6%). Among the manufacturers’ reasons for recalls, a specific error was declared in 88.9%. a coding error in 43.8%. 94.4% software-related recalls were classified as class 2. Return of the device was the main action taken by firms (44.4%), followed by software update (38.9%). 3). In the same period, no robot complained about its surgeon!. Hip surgeon is as intelligent as a robot and almost twice as safe

Aims. In-hospital length of stay (LOS) and discharge dispositions following arthroplasty could act as surrogate measures for improvement in patient pathways, and have major cost saving implications for healthcare providers. With the ever-growing adoption of robotic technology in arthroplasty, it is imperative to evaluate its impact on LOS. The objectives of this study were to compare LOS and discharge dispositions following robotic arm-assisted total knee arthroplasty (RO TKA) and unicompartmental arthroplasty (RO UKA) versus conventional technique (CO TKA and UKA). Methods. This large-scale, single-institution study included patients of any age undergoing primary TKA (n = 1,375) or UKA (n = 337) for any cause between May 2019 and January 2023. Data extracted included patient demographics, LOS, need for post anaesthesia care unit (PACU) admission, anaesthesia type, readmission within 30 days, and discharge dispositions. Univariate and multivariate logistic regression models were also employed to identify factors and patient characteristics related to delayed discharge. Results. The median LOS in the RO TKA group was 76 hours (interquartile range (IQR) 54 to 104) versus 82.5 (IQR 58 to 127) in the CO TKA group (p < 0.001) and 54 hours (IQR 34 to 77) in the RO UKA versus 58 (IQR 35 to 81) in the CO UKA (p = 0.031). Discharge dispositions were comparable between the two groups. A higher percentage of patients undergoing CO TKA required PACU admission (8% vs 5.2%; p = 0.040). Conclusion. Our study showed that robotic arm assistance was associated with a shorter LOS in patients undergoing primary UKA and TKA, and no difference in the discharge destinations. Our results suggest that robotic arm assistance could be advantageous in partly addressing the upsurge of knee arthroplasty procedures and the concomitant healthcare burden; however, this needs to be corroborated by long-term cost-effectiveness analyses and data from randomized controlled studies. Cite this article: Bone Jt Open 2023;4(10):791–800

Aims. To perform an incremental cost-utility analysis and assess the impact of differential costs and case volume on the cost-effectiveness of robotic arm-assisted unicompartmental knee arthroplasty (rUKA) compared to manual (mUKA). Methods. This was a five-year follow-up study of patients who were randomized to rUKA (n = 64) or mUKA (n = 65). Patients completed the EuroQol five-dimension questionnaire (EQ-5D) preoperatively, and at three months and one, two, and five years postoperatively, which was used to calculate quality-adjusted life years (QALYs) gained. Costs for the primary and additional surgery and healthcare costs were calculated. Results. rUKA was associated with a relative 0.012 QALY gain at five years, which was associated with an incremental cost per QALY of £13,078 for a unit undertaking 400 cases per year. A cost per QALY of less than £20,000 was achieved when ≥ 300 cases were performed per year. However, on removal of the cost for a revision for presumed infection (mUKA group, n = 1) the cost per QALY was greater than £38,000, which was in part due to the increased intraoperative consumable costs associated with rUKA (£626 per patient). When the absolute cost difference (operative and revision costs) was less than £240, a cost per QALY of less than £20,000 was achieved. On removing the cost of the revision for infection, rUKA was cost-neutral when more than 900 cases per year were undertaken and when the consumable costs were zero. Conclusion. rUKA was a cost-effective intervention with an incremental cost per QALY of £13,078 at five years, however when removing the revision for presumed infection, which was arguably a random event, this was no longer the case. The absolute cost difference had to be less than £240 to be cost-effective, which could be achieved by reducing the perioperative costs of rUKA or if there were increased revision costs associated with mUKA with longer follow-up. Cite this article: Bone Jt Open 2023;4(11):889–898

Aims. Traditionally, acetabular component insertion during total hip arthroplasty (THA) is visually assisted in the posterior approach and fluoroscopically assisted in the anterior approach. The present study examined the accuracy of a new surgeon during anterior (NSA) and posterior (NSP) THA using robotic arm-assisted technology compared to two experienced surgeons using traditional methods. Methods. Prospectively collected data was reviewed for 120 patients at two institutions. Data were collected on the first 30 anterior approach and the first 30 posterior approach surgeries performed by a newly graduated arthroplasty surgeon (all using robotic arm-assisted technology) and was compared to standard THA by an experienced anterior (SSA) and posterior surgeon (SSP). Acetabular component inclination, version, and leg length were calculated postoperatively and differences calculated based on postoperative film measurement. Results. Demographic data were similar between groups with the exception of BMI being lower in the NSA group (27.98 vs 25.2; p = 0.005). Operating time and total time in operating room (TTOR) was lower in the SSA (p < 0.001) and TTOR was higher in the NSP group (p = 0.014). Planned versus postoperative leg length discrepancy were similar among both anterior and posterior surgeries (p > 0.104). Planned versus postoperative abduction and anteversion were similar among the NSA and SSA (p > 0.425), whereas planned versus postoperative abduction and anteversion were lower in the NSP (p < 0.001). Outliers > 10 mm from planned leg length were present in one case of the SSP and NSP, with none in the anterior groups. There were no outliers > 10° in anterior or posterior for abduction in all surgeons. The SSP had six outliers > 10° in anteversion while the NSP had none (p = 0.004); the SSA had no outliers for anteversion while the NSA had one (p = 0.500). Conclusion. Robotic arm-assisted technology allowed a newly trained surgeon to produce similarly accurate results and outcomes as experienced surgeons in anterior and posterior hip arthroplasty. Cite this article: Bone Jt Open 2021;2(6):365–370

Aims. It is unknown whether gap laxities measured in robotic arm-assisted total knee arthroplasty (TKA) correlate to load sensor measurements. The aim of this study was to determine whether symmetry of the maximum medial and lateral gaps in extension and flexion was predictive of knee balance in extension and flexion respectively using different maximum thresholds of intercompartmental load difference (ICLD) to define balance. Methods. A prospective cohort study of 165 patients undergoing functionally-aligned TKA was performed (176 TKAs). With trial components in situ, medial and lateral extension and flexion gaps were measured using robotic navigation while applying valgus and varus forces. The ICLD between medial and lateral compartments was measured in extension and flexion with the load sensor. The null hypothesis was that stressed gap symmetry would not correlate directly with sensor-defined soft tissue balance. Results. In TKAs with a stressed medial-lateral gap difference of ≤1 mm, 147 (89%) had an ICLD of ≤15 lb in extension, and 112 (84%) had an ICLD of ≤ 15 lb in flexion; 157 (95%) had an ICLD ≤ 30 lb in extension, and 126 (94%) had an ICLD ≤ 30 lb in flexion; and 165 (100%) had an ICLD ≤ 60 lb in extension, and 133 (99%) had an ICLD ≤ 60 lb in flexion. With a 0 mm difference between the medial and lateral stressed gaps, 103 (91%) of TKA had an ICLD ≤ 15 lb in extension, decreasing to 155 (88%) when the difference between the medial and lateral stressed extension gaps increased to ± 3 mm. In flexion, 47 (77%) had an ICLD ≤ 15 lb with a medial-lateral gap difference of 0 mm, increasing to 147 (84%) at ± 3 mm. Conclusion. This study found a strong relationship between intercompartmental loads and gap symmetry in extension and flexion measured with prostheses in situ. The results suggest that ICLD and medial-lateral gap difference provide similar assessment of soft-tissue balance in robotic arm-assisted TKA. Cite this article: Bone Jt Open 2021;2(11):974–980

Introduction. Neither a surgeon's intraoperative impression or computer navigation parameters have been shown to be predictive of postoperative outcomes following TKA. The purpose of this study is to determine 1) whether a surgeon and a robot can predict the 1-year KOOS pain score (KPS) and 2) determine what factors correlate with poor KOOS scores in well aligned and balanced TKA. Methods. The data of 131 consecutive patients enrolled in a prospective trial was reviewed. All TKAs were performed using a dynamic ligament tensioning robotic system with a tibial first resection technique and a cruciate sacrificing ultracongruent knee implant. Each TKA was graded based on the final recorded mediolateral ligament balance at 10° and 90°: A) <1mm with an implanted insert thickness equal to planned (n=74); B) <1mm (n=25); C) <2mm (n=26); D) >2mm (n=6) (Table-1). The 1-year KPS for each knee grade were compared and the likelihood of achieving an KPS > 90 was calculated. Finally, the factors associated with lower KPS despite achieving a high grade TKA (A/B) was performed. The Mann-Whitney U test and Chi-squared analysis was performed. Results. Patients with a grade of A and B had higher 1-year KPS compared to knees rated C and D (p=0.031) (Fig-1). There was no difference in KPS in TKAs rated A or B, but 33% in this group did not report a KPS > 90. While there was no correlation with age, sex, preoperative deformity, and preoperative KOOS and PROMIS physical scores, patients with KPS < 90 despite a TKA rated A or B had lower PROMIS metal health scores compared to patients reporting KPS > 90 (54.1 vs. 50.8, p= 0.043). Finally, Grade A and B patients who scored KPS > 90 were more likely to respond with “my expectations were too low”, and they are performing better than expected compared to Grade A and B patients who scored KPS < 90 (40% vs 22%, p = 0.004). Summary. A robotic balanced knee is correlated with higher KPS at 1 year but not predictive. Despite accurate alignment, rotation, and ligament balance information, a robotic system could not guarantee excellent pain relief. Patient expectations and mental status also significantly affect the perceived success of TKA. For any figures or tables, please contact the authors directly

In a global environment of rising costs and limited funds, robotic and computer-assisted orthopaedic technologies could provide the means to drive a necessary revolution in arthroplasty productivity. Robots have been used to operate on humans for 20 years, but the adoption of the technology has lagged behind that of the manufacturing industry. The use of robots in surgery should enable cost savings by reducing instrumentation and inventories, and improving accuracy. Despite these benefits, the orthopaedic community has been resistant to change. If the ergonomics and economics are right, robotic technology just might transform the provision of joint replacement

The discussion of outpatient unicompartmental knee arthroplasty (UKA) requires proof that it can be done safely and effectively, and also begs the question of whether it can be performed in an ambulatory surgery center (ASC) rather than a general hospital (which raises costs and is typically less efficient). Successful outpatient UKA requires carefully crafted algorithms/protocols, home support, preoperative planning and preparation, expectation management, risk stratification (not everyone is a candidate), perioperative pain management and buy-in from patients, support networks and the health care team. Relatively little data is available on the feasibility, safety and potential cost savings associated with this shift in care. We evaluated the costs and short term outcomes and complications of 150 consecutive UKAs performed in an ASC compared to those done in a general hospital both on an inpatient and outpatient basis. Determination of the setting of the outpatient surgery was made based on geographic preference by the patients; otherwise choice of inpatient or outpatient surgery in the hospital was left to the discretion of the surgeon and was primarily based on the patients' comorbidity profile and circumstances of home help. Total direct facility costs were calculated, including institutional supplies and services, anesthesia services, implants, additional PACU medications and services required, and costs associated with operating room use. Only total cost was evaluated, as it is the most consistent cost variable amongst the two institutions evaluated. The mean total direct cost of UKA in a general community hospital with an overnight stay was 1.24 and 1.65 times greater than the cost of UKA performed at the same hospital or an ASC on an outpatient basis, respectively. The mean total direct cost of outpatient UKA in a general hospital was 1.33 times greater than the mean total cost of UKA performed in an ASC. Semi-autonomous robotic technology has been introduced to optimise accuracy of implant positioning and soft tissue balance in UKA, with the expectation of resultant improvement in durability and implant survivorship. Currently, nearly 20% of UKA's in the U.S. are being performed with robotic assistance. It is anticipated that there will be substantial growth in market penetration over the next decade, projecting that nearly 37% of UKA's and 23% of TKA's will be performed with robotics in 10 years (Medical Device and Diagnostic Industry, March 5, 2015). First generation robotic technology improved substantially implant position compared to conventional methods; however, high capital costs, uncertainty regarding the value of advanced technologies, and the need for preoperative CT scans were barriers to broader adoption. Newer image-free robotic technology offers an alternative method for further optimizing implant positioning and soft tissue balance without the need for preoperative CT scans and with price points that make it suitable for use in an ASC. Currently, as a result of cost and other practical issues, <1% of first generation robotic technologies are being used in ASC's. Alternatively, more than 35% of second generation robotic systems are in use in ASC's for UKA, due to favorable pricing. In conclusion, UKA can be safely performed in the outpatient setting in select patients. Additionally, we demonstrated a substantial cost savings when UKA is performed in an outpatient setting and care is shifted from a general community hospital to an ASC. Finally, robotics can be utilised to optimise accuracy of implant placement and soft tissue balance in UKA, and newer image-free robotic technology is cost effective for outpatient UKA

In the framework of the modiCAS (Modular Interactive Computer Assisted Surgery) Project, which emerged from a collaboration of the University of Siegen and the University of Frankfurt in the fields of mechatronics and medicine, the development of a modular system to assist the surgeon during the whole planning and operation procedure has been started. A completely new realization of a planning system for bone surgery and alloarthroplasty is presented. Characteristics of the new system are generic interfaces for navigation, robotics and real-time data acquisition, graphic interactivity, documentation of each planning-step, a flexible wizard-guided concept and adaptable teaching modes. The system can be configured to any data source such as X-ray, CT, MRI, US with individual calibration. For planning, the data sources can be merged in any user defined way. In contrast to all existing planning systems the presented system can optionally be linked to navigation and robotic systems. The software was realized to run platform-independent on any personal computer surrounding. We used commercially available software libraries for computer graphics and graphical user interface programming. The whole system consists of several modules which are closely linked together and support all major pre- and intraoperative steps of surgery. The user interface remains the same during the planning and the intervention. Preoperative planning is carried out on a totally new planning station comprising an interactive and intuitive graphic interface, while intraoperative features include interactive matching procedures, true real-time-capability and incorporation of navigation and robotics. Initially we realized modules to support total hip allo-arthroplasty. The first application of the system is for a clinical trial on total hip alloarthroplasty. Planning is performed on the basis of radiographs and CT-datasets. Intraoperatively a navigation system and a robotic surgery system are used. Preliminary results show very precise and reproducible plannings that could be achieved in short time without special training of the clinician. Furthermore the unlimited intraoperative access to the whole planning dataset appeared to be very convenient to the surgeon because it allowed immediate response to unforeseen patient specific situations. Future adaptations of the universal planning system will be total knee alloarthroplasty, spine surgery and trauma surgery. The existing system can easily be configured to any surgical procedure because the same basic functionality is used for all applications and only special configurative datasets have to be generated for each application. The open architecture of the system enables easy integration of further input or output devices, an easy adaptation to different interventions, planning styles and operative techniques is possible

Aims. The aim of this study was to compare the clinical outcomes of robotic arm-assisted bi-unicompartmental knee arthroplasty (bi-UKA) with conventional mechanically aligned total knee arthroplasty (TKA) during the first six weeks and at one year postoperatively. Methods. A per protocol analysis of 76 patients, 43 of whom underwent TKA and 34 of whom underwent bi-UKA, was performed from a prospective, single-centre, randomized controlled trial. Diaries kept by the patients recorded pain, function, and the use of analgesics daily throughout the first week and weekly between the second and sixth weeks. Patient-reported outcome measures (PROMs) were compared preoperatively, and at three months and one year postoperatively. Data were also compared longitudinally and a subgroup analysis was conducted, stratified by preoperative PROM status. Results. Both operations were shown to offer comparable outcomes, with no significant differences between the groups across all timepoints and outcome measures. Both groups also had similarly low rates of complications. Subgroup analysis for preoperative psychological state, activity levels, and BMI showed no difference in outcomes between the two groups. Conclusion. Robotic arm-assisted, cruciate-sparing bi-UKA offered similar early clinical outcomes and rates of complications to a mechanically aligned TKA, both in the immediate postoperative period and up to one year following surgery. Further work is required to identify which patients with osteoarthritis of the knee will derive benefit from a cruciate-sparing bi-UKA. Cite this article: Bone Joint J 2021;103-B(10):1561–1570

Introduction. We report 10-year clinical outcomes of a prospective randomised controlled study on uni-compartmental knee arthroplasty using an active constraint robot. Measuring the clinical impact of CAOS systems has generally been based around surrogate radiological measures with currently few long-term functional follow-up studies reported. We present 10 year clinical follow up results of robotic vs conventional surgery in UKA. Material and methods. The initial study took place in 2004 and included 28 patients, 13 in the robotic arm and 15 in the conventional arm. All patients underwent medial compartment UKA using the ‘OXFORD’ mobile bearing knee system. Clinical outcome at 10 years was scored using the WOMAC scoring system. Results. 13 patients were initially included in the robotic arm, of these one was revised following trauma and a further two patient died leaving at total of 10 with an average age of 80 years. In the control arm, out of a total of 15 patients, 3 were revised to a total knee replacement due to pain, 1 has died and 1 lost to follow-up. Their mean age is 81. A total of 19 patients were included (conventional n=9, robotic n=10) in this follow up study. The WOMAC scores for the robotic group were lower - (p<0.05). Discussion. There is a paucity of data on 10 year outcome of computer assisted UKA and whilst most studies show no clinical benefit, our study suggests a better outcome, however our numbers now are small (n=19). In our original study 1 the primary outcome measure, tibiofemoral alignment in the coronal plane was within 2 degrees of the planned position in the robotic group whilst in the conventional group only 6 of the 15 knees achieved this level of accuracy - Fig 1. The primary hypothesis was that the use of an active constraint robot improved prosthetic position. This accuracy continues to be associated with improved functional outcome. Three revisions were performed prior to this period and were considered technical failures and have been excluded from this analysis

Closed manipulation of long bone fractures is often a difficult problem. Muscles and soft tissues along with gravity, acting along the fracture fragments, can cause complex displacement and deformity at the fracture site. At the same time surgeons have to rely on human assistants to manipulate and realign these fractures. This depends a lot on their individual skills and furthermore human assistants are prone to fatigue and are liable to imprecise movements. A robotic device has precision, accuracy, and steadiness along with the ability to be programmed. The purpose of this study is to conceptualize a device, which can aid orthopaedic surgeons to manipulate long bone fractures. Extensive literature search was done using the Internet and conventional resources, to find recent developments in the use of robotics in trauma and fracture surgery. Different models of robots were considered and finally a parallel robot of the Stewart platform type was considered to be of the design that will be more compatible with an orthopaedic operating environment. Computer aided design and graphics modelling of the robot was done and range of motion and force it can generate was calculated. The prototype that was built had six degrees of freedom and enough force and range of motion to reduce and manipulate long bone fractures. The actual controlling interface of the robot through a PC was established. It is possible to build a robot for manipulating long bone fractures. Further research is being done to focus on the integration of the robot to fluoroscopic images and designing the correct attachment tools for the extremities

Introduction. Technology in Orthopaedic surgery has become more widespread in the past 20 years, with emerging evidence of its benefits in arthroplasty. Although patients are aware of benefits of conventional joint replacement, little is known on patients' knowledge of the prevalence, benefits or drawbacks of surgery involving navigation or robotic systems. Materials and methods. In an outpatient arthroplasty clinic, 100 consecutive patients were approached and given questionnaires to assess their knowledge of Navigation and Robotics in Orthopaedic surgery. Participation in the survey was voluntary. Results. 98 patients volunteered to participate in the survey, mean age 56.2 years (range 19–88; 52 female, 46 male). 40% of patients believed more than 30% of NHS Orthopaedic operations involved navigation or robotics; 80% believed this was the same level or less than the private sector. A third believed most of an operation could be performed independently by a robotic/navigation system. Amongst perceived benefits of navigation/robotic surgery was more accurate surgery(47%), quicker surgery (50%) and making the surgeon's job easier (52%). 69% believed navigation/robotics was more expensive and 20% believed it held no benefit against conventional surgery, with only 9% believing it led to longer surgery. Almost 50% would not mind at least some of their operation being performed with use of robotics/navigation, with a significantly greater proportion of these coming from patients aged under 50 years. Conclusions. Although few patients were familiar with this new technology, there appeared to be a strong consensus it was quicker and more accurate than conventional surgery. Many patients appear to believe navigation and robotics in Orthopaedic surgery is largely the preserve of the private sector. This study demonstrates public knowledge of such new technologies is limited and a need to inform patients of the relative merits and drawbacks of such surgery prior to their more widespread implementation

1. Role of enabling technologies in THA: Setting the stage. a. Impact of component position in THA. 1. Wear/lysis. Effect of edge loading, impingement. 2. Instability. Together, the most common cause for revision hip arthroplasty. b. Ideal component position:. 1. Work of Lewinneck: the “safe zone” for stability. c. Can we achieve this?. 1. HSS study. 2. Mass General Study: 2000 THR's, only 50% within desired range. d. Need for assistance? Maybe?. 2. Types of Guidance:. a. Navigation: use of mechano or optical tracking system that after some registration acquisition, facilitate spatial placement. The systems can either be image based (pre-operative CT scan) or imageless where multiple points are acquired and a “best fit” is matched to a library of pelvic geometries. b. Robotics: combines the spatial application of navigation with the precision bone preparation afforded by robotic milling. Robotic use can either be active whereby the robotic preparation is performed by the computer driven system (ie ROBODOC™). Alternatives include surgeon controlled but robot guided (haptic) type systems. 3. Perceived Advantages:. a. Robotic assisted: Bone preparation: spherical shape of socket consistently “rounder” than manually controlled reaming. Implant insertion: by establishing boundaries of insertion, final implant position achieves desired position. 4. Unknowns:. a. Cost effectiveness. b. Do we really know where the socket is best located for an individual patient?. While we rely on the safe zone of Lewinneck for our desired implant position, the impact of lumbosacral disease deformity could/should impact where the socket is placed

The Acrobot®, an active constraint “hands-on” robotic system, gives navigation cues to the surgeon, and also assists him in the surgery, using active software constraints if he tries to depart from the preoperative plan. It has just entered clinical trials. We report the first 5 cases. The Acrobot® system for precision total knee arthroplasty comprises the following components:. 1. A CT-based planning system. 2. The limb positioning system. 3. The Acrobot’s hardware components:. a gross positioning device with separate brakes and encoders, locked off for safety during the procedure,. a fully back-driveable low force robot, and. a force control handle on the robot close to the high-speed milling tool. 4. The Acrobot’s software which:. imports the preoperative plan,. allows anatomic registration. provides navigation,. physically assists the surgeon perform his plan. Each patient’s knee scores were monitored and postoperative CT scan was compared with the preoperative plan. Seven robot assisted arthroplasties have been performed. No significant complications have been encountered. The Knee and Womac Scores show that the procedure is safe and comparable to conventional surgery in the early postoperative period. The envelope of error on postoperative CT scans has been within the accuracy of the method of measurement, at < 1 mm and < 10 without the outliers which haunt every clinical series. The Acrobot® system for total knee arthroplasty has completed its preliminary trial satisfactorily. It provides a handson operation but with robotic levels of accuracy. It is suitable for conventional open surgery, but its real place will be in the arena of minimally invasive unicondylar knee arthroplasty, hip arthroplasty and resurfacing, and in the spine, where active constraint will prevent potentially dangerous surgical errors

The disadvantages of sawing for precise bone cuts are well known: untrue cuts, heat and metal wear. The main limiting factors of available milling devices are the difficult handling and high costs, especially if the devices are based on a robot. Supported by clinical users and mechanical engineers a milling concept adopted from machining has been realised in order to overcome this limitations. The „All-in-One Milling-Tool“ achieves the same precision of a robot by a mechanically guided milling resection far below the necessary investment for a robot. Three methods are provided for the alignment of the resection planes and will be discussed: intramedullary adjustment, 3D CT-based planning and intramedullar performance as well as the performance under control by navigation. All versions are based on a handheld resection and guarantee a visual and haptical feedback for the surgeon. The use of navigation has the advantage of the accurate transfer of the 3D plan into the OR, the interactive facilitated alignment und resection steps and the documentation of planned and actual implant position

The disadvantages of sawing for precise bone cuts are well known: untrue cuts, heat and metal wear. The main limiting factors of available milling devices are the difficult handling and high costs, especially if the devices are based on a robot. Supported by clinical users and mechanical engineers a milling concept adopted from industrial machining has been realised in order to overcome this limitations. The “All-in-One Milling-Tool” achieves the same precision of a robot by a mechanically guided milling resection far below the necessary investment for a robot. Once fixed at the femur, the device allows all femural and tibial resections. Three methods are provided for the alignment of the resection planes and will be discussed: intramedullary adjustment, 3D CT-based planning and intramedullar performance as well as the performance under navigation control. All versions are based on a handheld resection and guarantee a visual and haptical feedback for the surgeon. The use of navigation has the advantage of the accurate transfer of the 3D plan into the OR, the interactive guided and facilitated alignment und resection steps and the documentation of planned and actual implant position

ROBODOC is a well known tool for a computer assisted arthroplasty. However, the incision tends to enlarge with the system because of the restriction of range of motion. We have developed the robot system for minimally invasive arthroplasty. This report shows the accuracy of our system composed of original planning software, navigation and bone cutting robot. We took the DICOM data of cadaver knees from computed tomography. The data were transferred to the workstation for planning. Matching points for registration and cutting planes were determined on the planning software. Cutting tool was the 6th robot which was able to recognize the locations of its apex and the cadaver knee with navigation system. We made five planes for TKA and two planes for UKA on femur. Then we made one plane on tibia. We evaluated the accuracy by measurement the location of cutting plane under navigation system and by CT data. The registration errors of femur and tibia were less than 1.0mm about cadaver knees. The errors of cutting planes were 1.3 mm about the distal end of femur and 0.5 mm about the proximal end of tibia. The accuracies of the angles of cutting planes were 1.9 degrees and 0.8 degrees compared to the mechanical axis. The errors of anterior and posterior plane of femur were increased compared to the distal plane. It was because the accuracy of registration were correct in axial direction but was not satisfied in rotational direction. The error was considered by the location of points which decided the rotation alignment. We will make effort to minimize the errors of registration and put it into practical use as soon as possible

Introduction. Total-knee-arthroplasty (TKA) is used to restore knee function and is a well-established treatment of osteoarthritis. Along with the widely used fixed bearing TKA design, some surgeons opt to use mobile bearing designs. The mobile-bearing TKA is believed to allow for more freedom in placement of the tibial plate, greater range of motion in internal-external (IE) rotation and greater constraint through the articular surface. This current study evaluates 1) the kinematics of a high constraint three condyle mobile bearing TKA, 2) the insert rotation relative to the tibia, and 3) compares them with the intact knee joint kinematics during laxity tests and activities-of-daily-living (lunge, level walking, stairs down). We hypothesize that 1) in contrast to the intact state the anterior-posterior (AP) stability of the implanted joint increases when increasing compression level while 2) maintaining the IE mobility, and that 3) the high constraint does not prevent differential femorotibial rollback during lunge. Methods. Six fresh-frozen human cadaveric knee joints with a mean donor age of 64.5 (±2.4) years and BMI of 23.3 (±7.3) were tested on a robot (KR140, KUKA) in two different states: 1) intact, 2) after implantation of a three condyle mobile bearing TKA. The tibia plateau and the insert of each tested specimen were equipped with a sensor to measure the insert rotation during testing. Laxity tests were done at extension and under flexion (15°, 30°, 45°, 60° 90°, 120°) by applying subsequent forces in AP and medial-lateral (ML) of ±100N and moments in IE and varus-valgus (VV) rotation (6Nm/4Nm, 12 Nm/-). Testing was performed under low (44N) and weight bearing compression (500N). Loading during the lunge, level walking and stairs descent activity was based on in-vivo data. Resulting data was averaged and compared with the kinematics of the intact knee. Results. Increasing the joint compression resulted in a 90% reduced AP laxity (increased stability) for the implanted case while the intact knee laxity stayed similar. In high compression the implanted IE mobility was reduced by 45% for low and mid flexion angles and by 20% for high flexion angles, while the intact knee IE mobility was reduced by 30% at low and mid flexion and 20% at high flexion. The trend of the rollback behaviour was similar for the implanted and intact joints and showed higher lateral than medial rollback (Figure 3 A). The average insert-rotation was highest during level walking (+ 5° to −2.5°) and lowest during lunge (−3.5° to 2.5° over flexion). Conclusion. The established hypotheses were supported by the above listed results. Increasing the joint compression in the mobile bearing design stabilized the knee in the AP direction and maintained the IE mobility similar to the intact knee. This can be directly related to the design of the TKA articular surface, which has a high impact on constraint as soon as the joint is loaded. However, the high constraint of the TKA did not prevent differential rollback

Aims: We compared the primary rotatory stability of robot implanted hip endoprostheses with manually implanted stems. We examined three different types of prosthesisstems: Osteolock, CBC, Excia. Methods: 10 stems of each prosthesis type were implanted in identical polyurethan foam blocks: 5 manually, 5 robot assisted (CASPAR-System). The forces, which were necessary for the implantation of the stem were documented digitally. Now a deþnated rotatory stress was put on the stem with a torquing machine. The torsional moment was also documented digitally. Results: The strengthway- diagram of the implantation in robot assisted reamed foam blocks was homogeneous at each type of prosthesis. At the manually reamed blocks, the diagrams were very inhomogeneous. The rotatory test showed also very unitary results at the robot implanted stems with only minimal variations of the results from the median. The range of results after manually implantation was much higher. In all types of protheses the use of the robot system lead to a signiþcantly higher rotatory stability. CBC stem is signiþcantly most stable for rotatory forces after robot assisted implantation compared to the other two types. After manual implantation there was no differrent stability between the CBC and the Osteolock stem. The Excia stem showed the signiþcantly lowers rotatory stability after manual and robot assisted implantation. Conclusions: With a robot system the primary rotatory stabilty of hip endoprosthesis is improved indenpendtly of the type of the prosthesis. The inßuence of the stem design is also important for the rotatory stability, too