Technical Brief

A Bone Milling Robot for Spinal Surgery1

[+] Author and Article Information
Shuai Wang, Luping Fan, Bing Li

Shenzhen Graduate School,
Harbin Institute of Technology,
Shenzhen 518055, China

Peng Gao, Baoliang Zhao, Peng Zhang, Ying Hu

Shenzhen Institutes of Advanced Technology,
Chinese Academy of Sciences,
Shenzhen 518055, China

2Corresponding author.

DOI: 10.1115/1.4033800Manuscript received March 1, 2016; final manuscript received March 17, 2016; published online August 1, 2016. Editor: William Durfee.

J. Med. Devices 10(3), 030924 (Aug 01, 2016) (3 pages) Paper No: MED-16-1111; doi: 10.1115/1.4033800 History: Received March 01, 2016; Revised March 17, 2016

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Ortmaier, T. , Weiss, H. , Hagn, U. , Grebenstein, M. , Nickl, M. , Albu-Schaffer, A. , Ott, C. , Jorg, S. , Konietschke, R. , Le-Tien, L. , and Hirzinger, G. , 2006, “ A Hands-on-Robot for Accurate Placement of Pedicle Screws,” IEEE International Conference on Robotics and Automation (ICRA 2006), Orlando, FL, May 15-19, pp. 4179–4186.
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Hu, Y. , Jin, H. , Zhang, L. , Zhang, P. , and Zhang, J. , 2014, “ State Recognition of Pedicle Drilling With Force Sensing in a Robotic Spinal Surgical System,” IEEE/ASME Trans. Mechatronics, 19(1), pp. 357–365. [CrossRef]
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Grahic Jump Location
Fig. 5

System components of the bone milling system

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Fig. 4

Workspace of the robot

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Fig. 3

Link frames of the robot

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Fig. 2

Four DOFs required for the bone milling robot

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Fig. 1

The relative position between the bone drill and human vertebra



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