Adaptive Controlled Milling Robot for Orthopedic Surgery

• In this study of robotic end milling during orthopedic surgery, the objectives were (1) Shortening of the cutting time

(2) Detection of tool overload and protection from precision degradation and temperature elevation and (3) Improvement of machine safety by force control. In the minimally invasive joint replacement, a problem of tool collision came to the geometric one.

Naohiko Sugita, Fumiaki Genma, Yoshikazu Nakajima and Mamoru Mitsuishi

School of Engineering, The University of Tokyo, Japan

Process start

Predictive mode

Adaptive mode

Feed dir.

Cutting tool

CancellousCortical

Feed dir.

Cutting tool

Air cutting

Bone cutting