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Updated: Dec 17, 2025
A Teleoperated Robotic System-Assisted Percutaneous Transiliac-Transsacral Screw Fixation Technique
Published on: January 6, 2023
Full Study, Model Verification, and Control of a Five Degrees of Freedom Hybrid Robotic-Assisted System for
Ahmed Sedky1, Nader A Mansour2,3, Ahmed El-Assal3
1Mechanical Engineering Department, Higher Technological Institute, 10th of Ramadan, Egypt.
Background:
Neurosurgery demands high precision, and robotic-assisted systems are increasingly employed to enhance surgical outcomes. This study focuses on a hybrid robotic-assisted system for neurosurgery, addressing forward and inverse kinematics, Jacobian matrices, and system singularities.
Methods:
The system is simulated using MATLAB/Simscape Multibody to achieve accurate kinematic and dynamic representations. An inverse kinematics framework was developed for generating and validating a circular trajectory at the end-effector tip. Two control strategies are compared: traditional active joint PID control and combined trajectory feedback plus feedforward control.
Results:
The combined control strategy significantly improves performance, reducing the maximum absolute error of each output by an average of 46.5% and the mean square error by 50.31% under optimal conditions.
Conclusion:
The findings highlight the potential of trajectory feedback and feedforward control to enhance the precision and reliability of robotic-assisted neurosurgical procedures.
