A flexible robot control solution for hip resurfacing surgery

Robots are becoming more common in our lives. Nowadays we observe robots working in houses, pharmacies, stores, and even in operating rooms. This evolution to become more human friendly and easier to interact cannot assume industrial robots, due to their heavy weight. In order to be well accepted by humans, when a robot is inserted into a room, we have to consider human safety and space limitations, which is critical in medical procedures, therefore, the use lightweight robots is required. This implies some non-standard control techniques in order to remove robot flexible links vibrations that may occur. In this work, a flexible manipulator robot control methodology is presented with the aim to perform a Hip Resurfacing Arthroplasty Surgery.