Sensor-aided milling with a surgical robot system

In this paper sources of errors are pointed out that occur using a robot system in order to cut belies. It is shown that the deflection of the robot too I must not be neglected if all accuracy in the range of one millimeter (from planning to execution) is required, since the tool deflection is up to 1.5 millimeters depending on the affecting torques. Therefore, special focus is set on methods which cope with this problem. A calibration approach considering the deflection of the robot tool is presented. After this calibration, it is possible to consider the tool deflection during the registration procedure (ball-in-cone strategy) as well as during the intervention. Furthermore, a discrete feed control algorithm is outlined.