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Force-Position Hybrid Compensation Control for Path Deviation in Robot-Assisted Bone Drilling.

Shibo Li1, Xin Zhong1,2, Yuanyuan Yang1

  • 1Guangdong-Hong Kong-Macao Joint Laboratory of Human-Machine Intelligence-Synergy Systems, Shenzhen Institute of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China.

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Robot-assisted bone drilling faces path deviation challenges due to tool and robot deformation. A new control framework significantly reduces deviation, improving accuracy and safety in orthopedic surgery.

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Area of Science:

  • Orthopedic Surgery
  • Robotics
  • Biomechanical Engineering

Background:

  • Robot-assisted bone drilling is crucial in orthopedics.
  • Tool path deviation on cortical bone surfaces impacts accuracy and safety.
  • Tool and robot deformation are key contributors to path deviation.

Purpose of the Study:

  • To develop a compensation control framework for robot-assisted bone drilling.
  • To address tool path deviation caused by tool-bone interaction and robot stiffness.
  • To enhance positioning accuracy, hole quality, and surgical safety.

Main Methods:

  • Established a multi-stage mechanistic model for tool-bone interaction.
  • Developed a robot stiffness model and a joint stiffness identification method.
  • Proposed a force-position hybrid compensation control framework with path prediction.

Main Results:

  • Reduced path deviation by 56.6%.
  • Decreased tool force by 38.5%.
  • Substantially improved hole quality.

Conclusions:

  • The proposed compensation control method effectively mitigates path deviation in robot-assisted bone drilling.
  • The multi-stage mechanistic model and joint stiffness identification enhance accuracy and safety.
  • This approach offers significant improvements for orthopedic surgical procedures.