Virtual trajectory tracking of a manipulator robot for Milling Assistance: Application to comanipulator in orthopedic surgery

Milling of bone volumes during some orthopedic surgery such as laminectomy is a delicate step to be performed with great precision. In conventional surgery, only X-rays of the patient can identify the areas to be removed and the areas to be protected. In this work, we propose a method of tracking a trajectory in geometric model control modes of the robot to assist and secure this type of milling. The study of the different approaches of mathematical modeling of the manipulator robot where it was a question of describing the geometrical modeling, in order to orient the arm with acceptable precision compared to its real environment. This proposed solution imposes virtual constraints, defined according to a particular effort profile, on the working environment of the user in order to separate the workspace into a free region and a forbidden region. The contribution of the device, in terms of precision, is evaluated experimentally by milling geometric shapes (square, triangular …).