A master-slave hybrid position/force control forrobot-aided pedicle tapping

This paper presents a master-slave hybrid position/force control designed to enhance screw placement accuracy and reduce surgery duration in robot-aided spinal fixation, while simultaneously ensuring surgeon's comfort. The proposed approach allows the surgeon to switch control modes based on bone layers and his/her preferences. Experimental results with non-expert users threading a spine phantom demonstrate an optimal trade-off between placement accuracy (error concerning the desired end position: 0.02±0.03 [mm]), surgery duration (task completion time: 11.8±2.6 [s]), and perceived workload.