To improve surgical result of total hip arthroplasty (THA), there has been some approaches using a robotic milling system, which can make a precise cavity in the femur. Usually, to carve a femur, the surgical robot is controlled by a pre-programmed tool-path regardless of a surgeon’s experience and judgment. This paper presents a control method of a surgical robot for THA, which can be used as an advanced surgical tool.
With a master/slave combined surgical robot, surgeon can carve the femur by changing the moving direction and the speed of a surgical robot. In the admittance display control, a trajectory of the surgical robot is generated by the admittance model to the direction of the surgeon’s guide force, and the relationship between the surgeon’s guide force and the velocity of a surgical robot can be adjusted as comfortable state to maneuver a surgical robot. The stability of a master/slave combined system is analyzed. To prevent the over-cutting of a femur within an acceptable error, virtual hard wall is display at the surgical boundary.
To evaluate the proposed control method of the master /slave-combined surgical robot, 2-DOF master/slave-combined manipulator is used in experiment.