Haptic control system for a robotic medical system with application to surface acquisition for joint arthroplasty

Abstract

Haptic capabilities were added to MBARS - a mini bone attached robotic system. MBARS is intended for preparing the femur surface for arthroplasty - replacing damaged cartilage on the knee joint. Mechanical compliance was added on the Slave side to avoid high impacts when contacting surfaces, thus greatly stabilizing the system. Real time algorithms for acquiring reaction forces and position were established and used for haptic feedback. Performance and stability are compromised by delays and dynamic differences between Master (PHANToM™ Desktop) and Slave (MBARS - Stewart platform). Compensating linear and non-linear control laws were compared under different conditions. Initial experimental results and basic guidelines are presented.