Safety considerations in a surgical robot.

@article{Cain1993SafetyCI,
  title={Safety considerations in a surgical robot.},
  author={Philipp Cain and Peter Kazanzides and J. Zuhars and Brent D. Mittelstadt and H. U. Paul},
  journal={Biomedical sciences instrumentation},
  year={1993},
  volume={29},
  pages={
          291-4
        }
}
This paper describes the safety features of the ROBODOC Surgical Assistant System, an image-driven robotic system which has been used to perform Total Hip Replacement surgery. These features include a dedicated processor for continuous monitoring of system status, shared data areas (dual-ported RAM), and external sensors (force-torque sensor, redundant positional encoders, and bone motion monitor). 

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