By Topic

Deformation analysis and active compensation of surgical milling robot based on system error evaluation

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Sugita, N. ; Sch. of Eng., Univ. of Tokyo, Tokyo ; Osa, T. ; Nakajima, Y. ; Mitsuishi, M.

The increase of precision and minimal invasiveness is an important current issue in orthopedic surgery. The femur and the tibia must be shaped to fit an artificial joint for successful knee arthroplasty. The recent trend towards MIS (minimally invasive surgery) to decrease the length of the required incision has increased surgical difficulty, since the open access area is small. In this paper, registration and cutting error were analyzed with a robotic surgery system being developed first as an example, and a method of active compensation of robot deformation by gravity and cutting force was proposed and tried based on the error map with the expectation that the precision will increase.

Published in:

Robotics and Automation, 2008. ICRA 2008. IEEE International Conference on

Date of Conference:

19-23 May 2008