Safety Design and Control Algorithm for Robotic Spinal Surgical System

This paper is based on a new Robotic Spinal Surgical System (RSSS) we have developed in last 2 years. This robotic surgical system focuses on pedicle screw implanting surgery, but can be used on some other orthopedic surgeries. Some safety design principles are presented during development of the RSSS. In this paper, two main aspects of them based on force messages are described. One is admittance control, the other is safety control during drilling process. We perform experiments to build safety control experience formula and test its availability. Our works here will support subsequent clinical practice of the RSSS.