Variable Impedance Control of Manipulator Robots Applied to Orthopedic Surgery

The main goal of this work is to use an impedance controller, implemented in a manipulator robot, with the aim of performing in orthopedic surgery. At first, some of the main progresses in robotic surgery are introduced as well as the possible application of this methodology in orthopedic surgery, namely in Hip Resurfacing. Then, the studied force controllers, namely the Impedance Control, some variations of this method and the respective compliant environment are presented. This strategy, known as indirect force control, allows the user (surgeon) to execute high-accuracy tasks (drilling and shaping the femur’s head) with the aid of the robot, in a controlled environment, hence, the surgeon has the possibility to guide the end-effector in its operational space by applying force on it. Thus, the surgeon can control the force needed to execute the drilling and shaping tasks, without having to adjust the endeffector’s tool while it approaches the bone. Finally, the obtained results are illustrated and analyzed and conclusions shown.