ArticleSensors (Basel, Switzerland)2022
Contact Compliance Based Visual Feedback for Tool Alignment in Robot Assisted Bone Drilling.
Article in Sensors (Basel, Switzerland), 2022. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 5 papers.
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Who cites it
5 citing papers in PubMed.
- A study on the correlation between robotic arm force feedback and drilling approach angle/depth in dental implantation: an in vitro investigation.BMC oral health · 2026Article
- Accuracy of Guided Drilling, Partially Guided Trephination, and Fully Guided Trephination Within a Static Surgical Guide for Apicoectomy in Hard Bone: An In Vitro Study.Dentistry journal · 2026Article
- Beyond the manual touch: situational-aware force control for increased safety in robot-assisted skullbase surgery.International journal of computer assisted radiology and surgery · 2024Article
- Force-Position Hybrid Compensation Control for Path Deviation in Robot-Assisted Bone Drilling.Sensors (Basel, Switzerland) · 2023Article
- A Force-Feedback Methodology for Teleoperated Suturing Task in Robotic-Assisted Minimally Invasive Surgery.Sensors (Basel, Switzerland) · 2022Article
Corrections and comments
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Authors and funding
2 authors.
Funding
Abstract
In recent decades, robot-assisted surgery has been proven superior at providing more accurate outcomes than the conventional one, particularly in minimally invasive procedures. However, there are still limitations to these kinds of surgical robots. Accurate bone drilling on the steep and hard surface of cortical bone is still challenging. The issues of slipping away from the target entry point on the bone surface and subsequently deviating from the desired path are still not completely solved. Therefore, in this paper, a force control is proposed to accompany the resolved motion rate controller in a handheld orthopedic robot system. The force control makes it possible to adjust the contact compliance of the drill to the bone surface. With the proper contact compliance, the drill can be prevented from deflecting in contact with the bone surface, and will eventually be directed to the target entry point. The experiments on test jig and vertebra phantom also show that the robot under the proposed contact compliance visual feedback control structure could produce better usability positioning accuracy under various contact disturbances than its counterpart.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.