TY  - JOUR
U1  - Zeitschriftenartikel, wissenschaftlich - begutachtet (reviewed)
A1  - Klemm, Martin
A1  - Hanebeck, Uwe
A1  - Hoppe, Harald
T1  - Control Algorithms for 3-DoF Handheld Robotic Devices used in Orthopedic Surgery
JF  - Journal of Medical Robotics Research : JMRR
N2  - Nowadays, robotic systems are an integral part of many orthopedic interventions. Stationary robots improve the accuracy but also require adapted surgical workflows. Handheld robotic devices (HHRDs), however, are easily integrated into existing workflows and represent a more economical solution. Their limited range of motion is compensated by the dexterity of the surgeon. This work presents control algorithms for HHRDs with multiple degrees of freedom (DOF). These algorithms protect pre- or intraoperatively defined regions from being penetrated by the end effector (e.g., a burr) by controlling the joints as well as the device’s power. Accuracy tests on a stationary prototype with three DOF show that the presented control algorithms produce results similar to those of stationary robots and much better results than conventional techniques. This work presents novel and innovative algorithms, which work robustly, accurately, and open up new opportunities for orthopedic interventions.
Y1  - 2018
SN  - 2424-9068
SS  - 2424-9068
U6  - https://doi.org/10.1142/S2424905X19500028
DO  - https://doi.org/10.1142/S2424905X19500028
IS  - Online Ready
SP  - 1950002
S1  - 14
ER  -