A spatial motion constraint method for robot-assisted joint replacement surgery.

In order to improve the safety of surgery, a spatial motion constraint method is proposed that conducts a semi-autonomous for robot control. For the semi-autonomous operation mode, a robot motion constraint method that decouples VF from controller parameters is proposed, which supports the deployment of VF in variable parameter control systems. And it provides the operator with more intuitive constraint information feedback. The constraint strategy is defined by customizable VFs based on point clouds from registered computed tomography models. For verification of the method, simulated surgical experiments were conducted, including preoperative planning, surgical robot registration and navigation, and human-machine collaboration for bone milling. The experimental results indicate that the methods can impose appropriate limitation on the motion space of the robot, which is beneficial for improving the surgical quality and safety. [ABSTRACT FROM AUTHOR]