6-DOF force feedback control of robot-assisted bone fracture reduction system using double F/T sensors and adjustable admittances to protect bones against damage

摘要

During a long bone fracture reduction surgery, assistant surgeons suffer from physical fatigue due to tension in the surrounding muscles of the patient's broken bones. To mitigate this physical workload, a positioning robot can be utilized by attracting and aligning a broken femur following a surgeon's command. However, the excessive force that the positioning robot exerts can cause damage to bone tissue or muscles of the patient.