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An overview of the Acrobot® robotic surgical system for minimally invasive unicompartmental knee arthroplasty by B. Davies; F. Rodriguez; S. Harris; M. Jakopec; A. Barrett; P. Gomes; J. Cobb is a Medicine article available to read on EtoBox.

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Track 8. Computer-Assisted Surgery reference trajectory [1]. However, a modification of this reference trajectory itself is limited, complicating an instantaneous reaction on the patient's motion intention. In this paper, we propose a generic approach that uses the synergistic coupling of degrees of freedom (dofs) in healthy human gait, described in [2], for motion intention estimation. First, an analysis of the coupling in comparable healthy subjects is performed using Principal Components Analysis (PCA). This coupling information is then used to reconstruct "missing" dofs in hemiplegic patients. Thereby, the patient's motion intention for his paretic limbs can be deduced through an observation of residual body motion. For a first evaluation of the method, sagittal hip and knee joint trajectories of healthy gait patterns are eliminated and subsequently reconstructed from contralateral leg data, based on averaged coupling information from other healthy subjects. Even though the coupling between upper and lower extremities is thereby not exploited, due to the impractible requirement of normal arm motion in stroke patients, these simulations show a highly promising reconstruction suc

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Author

B. Davies; F. Rodriguez; S. Harris; M. Jakopec; A. Barrett; P. Gomes; J. Cobb

Publisher

Elsevier Science; Elsevier ; Elsevier BV (ISSN 0021-9290)

Published

2006

Language

EN

Field

Medicine (Health Sciences)