Bone cutting-through detection under imageless navigation

摘要

Robot assisted surgery can be safer than conventional counterpart. In total knee replacement, an intelligent tool with cooperative force control equipped by the proposed bone cutting through detection is advantageous to prevent from damaging surrounding soft tissue than by conventional method or computer navigation method. In this paper the developed auto-detection bone cutting through is able to achieve accurate bone cutting with only the information of cutter's motion and forces, no medical images are required. This approach can be a low cost solution to accomplish safe and accurate bone cutting to complement an imageless navigation system and results in a very effective robot-assisted surgical system.