Title :
Robot assisted knee surgery
Author :
Ho, S.C. ; Hibberd, R.D. ; Davies, B.L.
Author_Institution :
Mechatronics in Med. Lab., Imperial Coll. of Sci., Technol. & Med., London, UK
Abstract :
Discusses establishing a force control strategy incorporating active motion constraint. The following subjects are considered: problems with conventional surgery; robot assisted surgery; control strategy; representing the motion constraint; design of the desired position; force control strategy; implicit force control; modified damping control; experimental results
Keywords :
biocontrol; biomechanics; force control; robots; surgery; active motion constraint; biomedical control strategy; conventional surgery problems; desired position design; force control strategy; implicit force control; modified damping control; motion constraint representation; robot assisted knee surgery; Fixtures; Glands; Knee; Patient monitoring; Prosthetics; Robot sensing systems; Software safety; Surgery; Surges; Switches;
Journal_Title :
Engineering in Medicine and Biology Magazine, IEEE
