Jelle P. van der List, MD, Harshvardhan Chawla, BS, and Andrew D. Pearle, MD
Authors’ Disclosure Statement: Dr. Pearle reports that he is a paid consultant to Mako/Stryker, is a member of the scientific advisory board for Blue Belt Technologies, and is a consultant to Biomet. The other authors report no actual or potential conflict of interest in relation to this article.
Three robotic systems for knee arthroplasty surgery have been used in Europe. The Caspar system (URS Ortho) is an active robotic system in which a computed tomography (CT) scan is performed preoperatively, after which a virtual implantation is performed on the screen. The surgeon can then obtain information on lower leg alignment, gap balancing, and component positioning, and after an operative plan is made, the surgical resections are performed by the robot. Reflective markers are attached to the leg and all robotic movements are monitored using an infrared camera system. Any undesired motion will be detected by this camera system and will stop all movements.63 A second and more frequently reported system in the literature is the active Robodoc surgical system (Curexo Technology Corporation). This system is designed for TKA and total hip arthroplasty (THA) surgery. Although initial studies reported a high incidence of system-related complications in THA,64 the use of this system for TKA has frequently been reported in the literature.56,63,65-69 A third robotic system that has been used in Europe is the Acrobot surgical system (Acrobot Company Ltd), which is an image-based semi-active robotic system70 used for both UKA and TKA surgery.70,71
Accuracy of Controlling Surgical Variables in Robotic-Assisted Knee Arthroplasty
Several studies have assessed the accuracy of robotic-assisted surgery in UKA surgery with regard to control of the aforementioned surgical variables. Pearle and colleagues72 assessed the mechanical axis accuracy of the Mako system in 10 patients undergoing medial UKA robotic-assisted surgery. They reported that the intraoperative registration lasted 7.5 minutes and the duration of time needed for robotic-assisted burring was 34.8 minutes. They compared the actual postoperative alignment at 6 weeks follow-up with the planned lower leg alignment and found that all measurements were within 1.6° of the planned lower leg alignment. Dunbar and colleagues73 assessed the accuracy of component positioning of the Mako system in 20 patients undergoing medial UKA surgery by comparing preoperative and postoperative 3-dimensional CT scans. They found that the femoral component was within 0.8 mm and 0.9° in all directions and that the tibial component was within 0.9 mm and 1.7° in all directions. They concluded that the accuracy of component positioning with the Mako system was excellent. Finally, Plate and colleagues17 assessed the accuracy of soft tissue balancing in the Mako system in 52 patients undergoing medial UKA surgery. They compared the balance plan with the soft tissue balance after implantation and the Mako system quantified soft tissue balance as the amount of mm of the knee being tight or loose at 0°, 30°, 60°, 90°, and 110° of flexion. They found that at all flexion angles the ligament balancing was accurate up to 0.53 mm of the original plan. Furthermore, they noted that in 83% of cases the accuracy was within 1 mm at all flexion angles.
For the Navio system, Smith and colleagues74 assessed the accuracy of component positioning using 20 synthetic femurs and tibia. They reported a maximum rotational error of 3.2°, an angular error of 1.46° in all orientations, and a maximum translational error of 1.18 mm for both the tibial and femoral implants. Lonner and colleagues75 assessed the accuracy of component positioning in 25 cadaveric specimens. They found similar results as were found in the study of Smith and colleagues74 and concluded that these results were similar to other semi-active robotic systems designed for UKA.
For TKA surgery, Ponder and colleagues76 assessed the accuracy of the OmniBotic system and found that the average error in the anterior-posterior dimension between the targeted and measured cuts was -0.14 mm, and that the standard deviation in guide positioning for the distal, anterior chamfer, and posterior chamfer resections was 0.03° and 0.17 mm. Koenig and colleagues62 assessed the accuracy of the OmniBotic system in the first 100 cases and found that 98% of the cases were within 3° of the neutral mechanical axis. Furthermore, they found a learning curve with regard to tourniquet time between the first and second 10 patients in which they performed robotic-assisted TKA surgery. Siebert and colleagues63 assessed the accuracy of mechanical alignment in the Caspar system in 70 patients treated with the robotic system. They found that the difference between preoperatively planned and postoperatively achieved mechanical alignment was 0.8°. Similarly, Bellemans and colleagues77 assessed mechanical alignment and the positioning and rotation of the tibial and femoral components in a clinical study of 25 cases using the Caspar system. They noted that none of the patients had mechanical alignment, tibial or femoral component positioning, or rotation beyond 1° of the neutral axis. Liow and colleagues56 assessed the accuracy of mechanical axis alignment and component sizing accuracy using the Robodoc system in 25 patients. They reported that the mean postoperative alignment was 0.4° valgus and that all cases were within 3° of the neutral mechanical axis. Furthermore, they reported a mean surgical time of 96 minutes and reported that preoperative planning yielded femoral and tibial component size accuracy of 100%.
