A Study on Improvement of Machining Precision in a Medical Milling Robot

Abstract

Minimal invasiveness and increasing of precision have recently become important issues in orthopedic surgery. The femur and tibia must be cut precisely for successful knee arthroplasty. The recent trend towards Minimally Invasive Surgery (MIS) has increased surgical difficulty since the incision length and open access area are small. In this paper, the result of deformation analysis of the robot and an active compensation method of robot deformation, which is based on an error map, are proposed and evaluated.