Abstract
The controller design and implementation of a handheld surgical robot is presented. During the treatment of human bones the robot is able to compensate un-voluntary movements of the surgeon and of the patient and to find automatically the target position of the tool. The robot system is based on a Stewart-platform actuated by linear motors and on an optical tracking system. A cascade controller provides a local position and velocity control of the motor axes and an absolute position control in the world frame. To show the feasibility of the concept, cavities are milled into polystyrene-foam, while the robot is decoupled from the test bed. For clinical demands the robot has to be improved in the static and dynamic accuracy.
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