Force-based control of a compact spinal milling robot.

@article{Wang2010ForcebasedCO,
  title={Force-based control of a compact spinal milling robot.},
  author={Tianmiao Wang and Sheng Luan and Lei Hu and Zhongjun Liu and Weishi Li and Liang Jiang},
  journal={The international journal of medical robotics + computer assisted surgery : MRCAS},
  year={2010},
  volume={6 2},
  pages={
          178-85
        }
}
BACKGROUND Spine-milling operation during laminectomy surgery requires steady manipulation and intraoperative monitoring. A spinal milling robot with force-based control is introduced to improve the operation safety. METHOD The robot is designed with compact structure and simple configuration. Real-time thrust force is measured and three stages corresponding to the anatomical structures of the vertebra are identified, based on the analysis of typical characteristic parameters of the force… CONTINUE READING
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