Adaptive Controlled Milling Robot for Orthopedic Surgery

Abstract

Adaptive control of the machining process in orthopedic surgery will increase not only productivity but also the safety issues of tool usage. The authors have developed a technology for an adaptive control system. The system has two modes, the "predictive mode" and the "adaptive mode." The predictive mode is used to shorten the air cutting time. In the adaptive mode, the system monitors the cutting force and the cutting temperature, and controls the feed override according to the difference between the real and the desired cutting force. The software is implemented on the robot controller and its effectiveness is evaluated with a urethane bone.