Orthopedic surgery robotic system

Recent research in orthopedic surgeries indicates that computer-assisted robotic systems can improve the precision and accuracy of the surgery which in turn leads to better long-term outcomes. Kinematic and dynamic analysis of an orthopedic robot called OrthoRoby, which will be used in bone cutting operations, are derived. Computed-torque and disturbance based observer low-level control methods have been evaluated for OrthoRoby to track a desired bone cutting trajectory. Low-level controllers are evaluated and the results are presented to demonstrate the feasibility of the controllers.