Cooperative robotic assistant with drill-by-wire end-effector for spinal fusion surgery
نویسندگان
چکیده
Purpose: This research is aimed at developing a surgical robot for spinal fusion and its control framework that provides higher operation accuracy, greater flexibility of robot position control, and improved ergonomics. Design/Methodology/Approach: A human-guided robot for the spinal fusion surgery has been developed with a dexterous end-effector that is capable of high-speed drilling for cortical layer gimleting and tele-operated insertion of screws into the vertebrae. The end-effector is position-controlled by a five degrees-of-freedom robot body that has a kinematically closed structure to withstand strong reaction force occurring in the
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عنوان ژورنال:
- Industrial Robot
دوره 36 شماره
صفحات -
تاریخ انتشار 2009