The introduction of robotics for total knee arthroplasty (TKA) into the operating theatre is often associated with a learning curve and is potentially associated with additional complications. The purpose of this study was to determine the learning curve of robotic-assisted (RA) TKA within a multi-surgeon team.

This prospective cohort study included 83 consecutive conventional jig-based TKAs compared with 53 RA TKAs using the Robotic Surgical Assistant (ROSA) system (Zimmer Biomet, Warsaw, Indiana, USA) for knee osteoarthritis performed by three high-volume (> 100 TKA per year) orthopaedic surgeons. Baseline characteristics including age, BMI, sex and pre-operative Kellgren-Lawrence grade were well-matched between the conventional and RA TKA groups. Cumulative summation (CUSUM) analysis was used to assess learning curves for operative times for each surgeon. Peri-operative and delayed complications were reviewed.

The CUSUM analysis for operative time demonstrated an inflexion point after 5, 6 and 15 cases for each of the three surgeons, or 8.7 cases on average. There were no significant differences (p = 0.53) in operative times between the RA TKA learning (before inflexion point) and proficiency (after inflexion point) phases. Similarly, the operative times of the RA TKA group did not differ significantly (p = 0.92) from the conventional TKA group. There was no discernible learning curve for the accuracy of component planning using the RA TKA system. The average length of post-operative follow-up was 21.3 ± 9.0 months. There was no significant difference (p > 0.99) in post-operative complication rates between the groups.

The introduction of the RA TKA system was associated with a learning curve for operative time of 8.7 cases. Operative times between the RA TKA and conventional TKA group were similar. The short learning curve implies this RA TKA system can be adopted relatively quickly into a surgical team with minimal risks to patients.

Introduction:

Isolated lateral compartment osteoarthritis (OA) occurs in 5–10% of knees with unicompartmental OA. Lateral unicompartmental knee arthroplasty has been limited in its prevalence due to challenging surgical technique issues. A robotic-arm assisted surgical technique has emerged as a way to achieve precise implant positioning which can potentially improve surgical outcomes.

Introduction

Isolated lateral compartment osteoarthritis (OA) occurs in 5–10% of knees with OA [1, 2]. Lateral unicompartmental knee arthroplasty (LUKA) emerged as a treatment to this disease in the early 80s but challenging surgical technique has limited the prevalence of this treatment option [1–3]. A robotic-arm assisted surgical technique (MAKO Surgical Corp.) has emerged as a way to achieve precise implant positioning which can potentially improve surgical outcomes.

INTRODUCTION

Total hip arthroplasty (THA) is regarded as one of the most successful surgeries in medicine. However, recent studies have revealed that ideal acetabular cup implantation is achieved less frequently than previously thought, as little as 50% of the time. It is well known that malalignment of the acetabular component in THA may result in dislocation, reduced range of motion, or accelerated wear. This study reports accuracy of a tactile robotic arm system to ream the acetabulum and impact an acetabulur cup compared to manual instrumentation.

Introduction

Total knee arthroplasty (TKA) using conventional instrumentation has been shown to be a safe and effective way of treating end stage osteoarthritis by restoring function and alleviating pain. As robotic technology is developed to assist surgeons with intra-operative decision making such as joint balancing and component positioning, the safety of these advancements must be established. Furthermore, functional recovery and clinical outcomes should achieve comparable results to the gold standard of conventional instrumentation TKA.

Introduction:

UKA allows replacement of a single compartment in patients who have isolated osteoarthritis. However, limited visualization of the surgical site and lack of patient-specific planning provides challenges in ensuring accurate alignment and placement of the prostheses. Robotic technology provides three-dimensional pre-op planning, intra-operative ligament balancing and haptic guidance of bone preparation to mitigate the risks inherent with current manual instrumentation. The aim of this study is to examine the clinical outcomes of a large series of robot-assisted UKA patients.

Restoring native hip biomechanics is crucial to the success of THA. This is reflected both in terms of complications after surgery such as instability, leg length inequality, pain and limp; and in terms of patient satisfaction. The challenge that remains is that of achieving optimal implant sizing and positioning so as to restore, as closely as possible, the native hip biomechanics specific to the hip joint being replaced. This would optimise function and reduce complications, particularly, instability. (Mirza et al., 2010). Ideally, this skill should also be reproducible irrespective of the surgeon's experience, volume of surgery and learning curve. The general consensus is that the most substantial limiting factor in a THA is the surgeon's performance and as a result, human errors and unintended complications are not completely avoidable (Tarwala and Dorr, 2011). The more challenging aspects include acetabular component version, sizing and femoral component sizing, offset and position in the femoral canal. This variability has led to interest in technologies for planning THA, and technologies that help in the execution of the procedure. Advances in surgical technology have led to the development of computer navigation and robotic systems, which assist in pre-operative planning and optimise intra-operative implant positioning. The evolution of surgical technology in lower limb arthroplasty has led to the development of computer navigation and robotics, which are designed to minimise human error and improve implant positioning compared to pre-operative templating using plain radiographs. It is now possible to use pre-operative computerised tomography (image-based navigation) and/or anatomical landmarks (non-imaged-based navigation) to create three-dimensional images of each patient's unique anatomy. These reconstructions are then used to guide bone resection, implant positioning and lower limb alignment. The second-generation RIO Robotic Arm Interactive Orthopaedic system (MAKO Surgical) uses pre-operative computerised tomography to build a computer-aided design (CAD) model of the patient's hip. The surgeon can then plan and execute optimal sizing and positioning of the prostheses to achieve the required bone coverage, minimise bone resection, restore joint anatomy and restore lower limb biomechanics. The MAKO robotic software processes this information to calculate the volume of bone requiring resection and creates a three-dimensional haptic window for the RIO-robotic arm to resect. The RIO-robotic arm has tactile and audio feedback to resect bone to a high degree of accuracy and preserve as much bone stock as possible. We have used this technology in the hip to accurately reproduce the anteversion, closure and center of rotation that was planned for each hip. Whilst the precise safe target varies from patient to patient, the ability to reproduce native biomechanics, to gain fixation as planned and to get almost perfect length and offset are a great advantage. Complications such as instability and leg length inequality are thus dramatically reduced

Introduction:. Unicompartmental knee arthroplasty has been shown to have lower morbidity, quicker rehabilitation and more normal kinematics compared to conventional TKA, but subchondral defects, or severe osteoarthritic changes, of the medial compartment may complicate component positioning. Successful UKA in these patients requires proper planning and exact placement of the components to ensure adequate and stable fixation and proper postoperative kinematics. This study presents a series of three patients with spontaneous osteonecrosis of the knee receiving a UKA with CT-based haptic robotic guidance. Methods:. This series includes two females and one male with spontaneous osteonecrosis of the medial femoral condyle who underwent outpatient mini-incision medial UKA using the MAKO Surgical Rio Robotic Arm System. Pre-operatively all patients were found to have pain with weight bearing that would not improve despite non-arthroplasty treatment. Results:. The first patient was a 69 year old female (BMI of 22.85) with a left medial femur size 3, tibia size 4, bearing size 4×8 mm. The patient improved her ROM from 3–112° pre-operatively to 0–130° at 18 months post-operatively. The second patient was a 69 year old female (BMI of 25.68) with a right medial size 2 femur and 3 tibia and a 3×9 mm bearing. ROM increased from 0–120° pre-operatively to 0–145° at 2 year follow-up. The third patient was a 74 year old male (BMI of 26.5) who underwent previous knee arthroscopy with subsequent SPONK. Conclusion:. The difficulty in treatment of SPONK with UKA solutions includes planning for the full coverage of the ON lesions while also addressing alignment, tracking and balancing needs simultaneously. Using the advanced planning tools of the MAKO Rio software, full coverage of ON lesions can be safely planned and verified preoperatively. The intraoperative flexibility of the system allows surgeon to map out the lesions intraoperatively, where visible, and aid in the proper implant positioning and size adjustment as necessary

Unicompartmental knee arthroplasty (UKA) has been gaining popularity in recent years due to its perceived benefits over total knee arthroplasty (TKA), such as greater bone preservation, reduced operating-room time, better post-operative range of motion and improved gait. However there have been failures associated with UKA caused by misalignment of the implants that have lead to revisions. To improve the implant alignment a robotic guidance system called the RIO Robotic Arm has been developed by MAKO Surgical Corp (Ft. Lauderdale, FL), which is designed to give improved accuracy compared to traditional UKA using cutting jigs and other manual instrumentation. The University of Strathclyde in association with Glasgow Royal Infirmary has undertaken the first independent RCT trial of the MAKO system against the Oxford unicompartmental knee arthroplasty – a conventional UKA used in the UK. Motion analysis was used in order to obtain a quantitative assessment of their movement. The results from a total of 51 patients (23 MAKO, 28 Oxford) that underwent a one year post-operative biomechanical assessment were investigated. Motion analysis showed that during level walking the MAKO group achieved a higher knee excursion during the highest flexion portion of the weight bearing stage of the gait cycle (foot-strike to mid-stance) compared to the Oxford group (18.6° and 15.8° respectively). This difference was statistically significant (p-value = 0.03). Other knee excursion values that were compared were from mid-stance to terminal stance, and overall knee flexion. No statistically significant differences were seen in either of these measurements. A subsequent comparison of both MAKO and Oxford groups with a matched normal cohort (50 patients), demonstrated that there wasn't a statistically significant difference between the MAKO group and the normal knees during mean knee excursion from foot-strike to mid-stance (18.6° and 19.5° respectively, p-value 0.36). However the Oxford group, with a lower knee excursion was found to be significantly different to our normal control group (15.8° and 19.5° respectively, p-value < 0.001). This suggests that the robotic-assisted knees behaved more similarly to normal gait during this phase of the gait cycle than those of the conventional group. While significant differences in gait were found between the Oxford and MAKO groups, further work is required to determine if this results in improved knee function that is perceptible to the patient

Introduction. The MAKO Surgical Rio Robotic Arm utilizes the pre-op CT images to plan positioning of the uni-condylar and patella-femoral components in order to achieve the most desirable kinematics for the knee joint. We hypothesize that the anatomic matching surfaces and the cruciate retaining design of the Restoris knee will best replicate normal knee kinematics. We tested the healthy cadaveric knee versus the MAKO knee and the most common TKR designs in order to evaluate and compare the kinematic properties. Methods. Six healthy male left knees were dissected to leave only the knee capsule and the quadriceps tendon intact. The femur and the tibia were cut 20cm from the joint line and potted with cement into a metal housing. The knee was attached to a crouching machine capable of moving the knee joint though its normal human kinematics from extension to maximum flexion, validated in previous studies. Forces applied to the quadriceps tendon allowed the knee to flex and extend physiologically, and springs attached to the posterior were substituted as the hamstrings at a rate of half the force exerted by the quadriceps as shown in the literature. Three dimensional visual targets attached to the bones were tracked by computer software capable of recreating the positions of the bones in any given flexion angle. A cruciate retaining and posterior stabilized TKR design were chosen to represent the TKRs most commonly available in the market today. The intact knee, MAKO implanted knee, CR and PS TKR designs were tested in sequence on the same specimens. The computer software analyzed the normal distance between the bone surfaces and plotted the locations of contact which could then be quantitatively compared for each given scenario [Fig. 1]. Results. Our results showed that the MAKO knee kinematics resembled the normal knee kinematics throughout the knee flexion range. The TKR designs altered the kinematics of the knee where the internal rotation of the tibia was no longer observed with the increasing flexion angle, while the femoral roll back in high flexion was only replicated by the post of the PS design and not by the CR design. Conclusions. Anatomic restoration of the joint surfaces and retention of the cruciate ligaments maintained normal kinematics, which is expected to be an advantage in obtaining improved clinical results

Combined acetabular and femoral anteversion (CA) of the hip following total hip arthroplasty (THA) is critical to the hip function and longevity of the components. However, no study has been reported on the accuracy in restoration of CA of the hip after operation using robotic assistance and conventional free-hand techniques. The purpose of this study was to evaluate if using robotic assistance in THA can better restore native CA than a free-hand technique. Twenty three unilateral THA patients participated in this study. Twelve of them underwent a robotic-arm assisted THA (RIO® Robotic Arm Interactive Orthopedic System, Stryker Mako., Fort Lauderdale, FL, USA) and eleven received a free-hand THA. Subject specific 3D models of both implanted and non-implanted hips were reconstructed using post-operative CT scans. The anteversion and inclination of the native acetabulum and implanted cup were measured and compared. To determine the differences of the femoral anteversion between sides, the non-implanted native femur was mirrored and aligned with the remaining femur of the implanted side using an iterative closest point algorithm. The angle between the native femoral neck axis and the prosthesis neck axis in transverse plane was measured as the change in femoral anteversion following THA. The sum of the changes of the acetabular and femoral anteversion was defined as the change of CA after THA. A Wilcoxon signed rank test was performed to test if the anteversion of the navigation and free-hand THAs were different from the contralateral native hips (α = 0.05). The acetabular anteversion were 22.0°±7.4°, 35.9°±6.5° and 32.6°±22.6° for the native hips, robotic assisted THAs and free-hand THAs, respectively, and the corresponding values of the acetabular inclinations were 52.0°±2.9°, 35.4°±4.4° and 43.1°±7.1°. The acetabular anteversion was increased by 12.2°±11.1° (p=0.005) and 12.5°±20.0° (p=0.102) for the robotic assisted and the free-hand THAs. The femoral anteversion was increased by 6.3°±10.5° (p=0.077) and 11.0°±13.4° (p=0.014) for the robotic assisted and free-hand THAs, respectively. The CA were significantly increased by 18.5°±11.7° (p<0.001) and 23.5°±26.5° (p=0.019) for the robotic assisted and the free-hand THAs. The changes of the CA of the free-hand THAs varied in a larger range than those of the robotic assisted THAs. This study is the first to evaluate the changes in acetabular and femoral anteversions of the hips after robotic assisted and free-hand THAs using the contralateral native hip as a control. The results demonstrate that both the navigation and free-hand THAs significantly increased the CA compared to the contralateral native hips, but the changes of the robotic assisted THAs (18.5°±11.7°) were smaller and varied less than those of the free-hand THAs (23.5°±26.5°). These data suggest that the robotic assisted THA can better restore the native hip CAs with higher repeatability than the free-hand technique. Further studies are needed to investigate the effects of the hip anteversion changes on the in-vivo function of the hip and the long-term outcomes in THA patients

Unicompartmental knee arthroplasty (UKA) has been gaining popularity in recent years due to its perceived benefits over total knee replacements, such as greater bone preservation, reduced operating-room time, better postoperative range of motion and improved gait. However there have been failures associated with UKA caused by misalignment of the implants. To improve the implant alignment a robotic guidance system called the RIO Robotic Arm has been developed by MAKO Surgical Corp (Ft. Lauderdale, FL). This robotic system provides real-time tactile feedback to the surgeon during bone cutting, designed to give improved accuracy compared to traditional UKA using cutting jigs and other manual instrumentation. The University of Strathclyde in association with Glasgow Royal Infirmary has undertaken the first independent Randomised Control Trial (RCT) of the MAKO system against the Oxford UKA – a conventional UKA used in the UK. The trial involves 139 patients across the two groups. At present the outcomes have been evaluated for 30 patients. 14 have received the MAKO unicompartmental knee arthroplasty and 16 the Oxford UKA. Both groups were seen 1 year post-operatively. Kinematic data was collected while subjects completed level walking using a Vicon Nexus motion analysis system. Three-dimensional hip, knee and ankle angles were compared between the two arthroplasty groups. Our initial findings indicate that hip and ankle angles show no significant statistical difference, however there is a significant difference (p < 0.05) in the knee angles during the stance phase of gait. Data shows higher angles achieved by the MAKO group over the Oxford. It would appear from our early findings that the MAKO RIO procedure with Restoris implants gives at least comparable functional outcome with the conventional Oxford system and may prove once our full sample is available for analysis to produce better stance phase kinematics with a more active gait pattern than the conventional Oxford procedure. Further work includes analysing the data obtained from the patients in a number of other activities. These include a full biomechanical analysis of ascending and descending a flight of stairs, sit to stand and a deep knee lunge. The high demand/high flexion tasks in particular may reveal if there's an advantage to using the MAKO procedure over the Oxford. If there is a direct correlation between alignment and patient function then this effect could be more significant in the more demanding patient tasks

Background:. Numerous studies have reported the importance of acetabular component positioning in decreasing dislocation rates, the risk of liner fractures, and bearing surface wear in total hip arthroplasty (THA). The goal of improving acetabular component positioning has led to the development of computer-assisted surgical (CAS) techniques, and several studies have demonstrated improved results when compared to conventional, freehand methods. Recently, a computed tomography (CT)-based robotic surgery system has been developed (MAKO™ Robotic Arm Interactive Orthopaedic System, MAKO Surgical Corp., Fort Lauderdale, FLA, USA), with promising improvements in component alignment and surgical precision. The purpose of this study was to compare the accuracy in predicting the postoperative acetabular component position between the MAKO™ robotic navigation system and an imageless, CAS system (AchieveCAS, Smith and Nephew Inc., Memphis, TN, USA). Materials and Methods:. 30 THAs performed using the robotic navigation system (robotic cohort) were available for review, and compared to the most recent 30 THAs performed using the imageless, CAS system (CAS cohort). The final, intraoperative reading for acetabular abduction and anteversion provided by each navigation system was recorded following each THA. Einsel-Bild-Roentgen analysis was used to measure the acetabular component abduction and anteversion based on anteroposterior pelvis radiographs obtained at each patient's first, postoperative visit (Figure 1). Two observers, blinded to the treatment arms, independently measured all the acetabular components, and the results were assessed for inter-observer reliability. Comparing the difference between the final, intraoperative reading for both acetabular abduction and anteversion, and the radiographic alignment calculated using EBRA analysis, allowed assessment of the intraoperative predictive capability of each system, and accuracy in determining the postoperative acetabular component position. In addition, the number of acetabular components outside of the “safe zone” (40° + 10° of abduction, 15° + 10° of anteversion), as described by Lewinnek et al., was assessed. Lastly, the operative time for each surgery was recorded. Results:. In the robotic cohort, the mean, absolute difference between the intraoperative reading and the postoperative alignment was 4.3° + 2.3° for acetabular abduction, and 3.2° + 2.3° for acetabular anteversion. In comparison, in the CAS cohort, the mean, absolute difference was 3.7° + 2.8° for acetabular abduction (p = 0.4), and 3.8° + 2.7° for acetabular anteversion (p = 0.4). In both cohorts, all of the acetabular components were placed within 40° + 10° of abduction. In the robotic cohort, 27 of 30 components were placed within 15° + 10° of anteversion, versus 25 of 30 components in the CAS cohort (p = 0.7). The interobserver correlation coefficients for measurement of both the acetabular abduction and anteversion were good (p = 0.83 and 0.79, respectively). A statistically significant difference was appreciated between the two cohorts for operative times, with a mean operative time of 120.2 + 8.9 minutes in the robotic cohort (vs. 73.6 + 17.1 minutes in the CAS cohort, p < 0.01). Discussion:. This study demonstrates the robotic navigation system to require significantly increased operative times, while providing no significant advantage over the imageless, CAS system with regards to predicting the postoperative acetabular component position

Introduction. The introduction of the Stanmore Implants Savile Row mobile-bearing UKA procedure in July 2011 marked a world first – the use of a patient-specific knee implanted with robotic technology – the Sculptor Robotic Guidance Arm (RGA). This union gives a truly personalised solution by designing an implant for each patient based upon preoperative CT data and using Sculptor RGA to prepare the bone accurately so that the implant is correctly positioned as planned. The purpose of this study is to evaluate the accuracy of Sculptor RGA both in-vitro and in-vivo. We report on the accuracy of our first clinical procedures. Methods. In-vitro:. CTs of plastic-bones were used to create plans for Sculptor RGA, establishing a relationship between the implant position and plastic-bone (planned-transform). Sculptor RGA was then used to prepare bones for 16 UKA implants mimicking the clinical set-up. The implants were placed in the prepared bones without cement. A coordinate-measuring-arm was used to register a)the bone, and b)the implant in relation to the bone (achieved-transform). The difference between planned-and-achieved transforms gives the error in implant position. In-vivo:. Preoperative CTs of 8 OA patients, acquired using the low-dose Imperial Knee CT protocol, were used to plan the position and the shape of the patient-specific implants. Intra-operatively, Sculptor RGA was used to register and prepare the bone and the implants were cemented in place. Post-operative CTs were also acquired. Two techniques were used to measure planned-to-achieved positions of the implants: 1). Preoperative-to-postoperative CT image registration followed by extraction of the achieved implant position and comparison with the plan, 2). Surface-to-surface registration of bone-models segmented from the preoperative and postoperative CTs followed by extraction of the achieved implant position and comparison with the plan. Results. For the in-vitro tests, femoral RMS errors averaged 0.8 mm and 1.6° and tibial RMS errors averaged 1.2 mm and 1.6°. For the clinical cases, femoral RMS errors averaged 1.2 mm and 2.6° and tibial RMS errors averaged 1.3 mm and 2.4°. Discussion. The planned-versus-achieved errors are lower for the in-vitro cases compared to the clinical cases. This is partly due to the increased ease of registration in-vitro and also due to the error introduced during cementing in-vivo, which has been reported to give average errors of 2° in UKA. 1. The clinical results also compare favourably with previously published results for robotic UKA: Conditt et al report 1.4 mm and 2.6° for the femur and 1.2 mm and 2.1° for the tibia. 2. . We have previously reported on the accuracy of the predecessor to Sculptor RGA in a study implanting an off-the-shelf UKA prosthesis with the bones clamped and comparing this to the manual technique. 3. In that study the error in the robotic technique averaged femur: 1.0 mm and 2.6°, tibia: 1.1 mm and 2.5° compared to femur: 2.7 mm and 5.5°, tibia: 2.5 mm and 5.3° in the manual group. Conclusion. This study has shown that the combination of Sculptor RGA and a patient-specific knee results in accurate and reproducible implant placement