Open Access

Martin Klemm, Uwe Hanebeck, Harald Hoppe

• 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 controlNowadays, 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.…