Estimation of tool position based on vibration sense during robotic bone milling

Abstract

In order to achieve high safety of the surgery robot, this paper presents a vibration signal acquiring and processing method to estimate the tool position during bone milling process. The dynamic of surgical milling is analyzed theoretically, and then it is proved that the vibration magnitude of the milling device decreases when the burr is close to the… (More)
DOI: 10.1109/ROBIO.2016.7866297

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