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No rigid fixation to the bone or a cart is necessary. A high-speed tracking camera together with a fast control system ensures the accurate positioning of a burring tool.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Methods<\/jats:title>\n                <jats:p>The capabilities of the robotic system to dynamically compensate for unintended motion, either of the robot itself or the patient, was evaluated. Therefore, the step response was analyzed as well as the capability to follow a moving target.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Results<\/jats:title>\n                <jats:p>The step response show that the robot can compensate for undesired motions up to 12\u00a0Hz in any direction. While following a moving target, a maximum positioning error of 0.5\u00a0mm can be obtained with a target motion of up to 18\u00a0mm\/s.<\/jats:p>\n              <\/jats:sec><jats:sec>\n                <jats:title>Conclusion<\/jats:title>\n                <jats:p>The requirements regarding dynamic motion compensation, accuracy, and machining speed of unicompartmental knee arthroplasties, for which the robot was optimized, are achieved with the presented robotic system. In particular, the step response results show that the robot is able to compensate for human tremor.\n<\/jats:p>\n              <\/jats:sec>","DOI":"10.1007\/s11548-020-02306-9","type":"journal-article","created":{"date-parts":[[2021,1,23]],"date-time":"2021-01-23T06:03:07Z","timestamp":1611381787000},"page":"467-474","update-policy":"https:\/\/doi.org\/10.1007\/springer_crossmark_policy","source":"Crossref","is-referenced-by-count":5,"title":["MINARO HD: control and evaluation of a handheld, highly dynamic surgical robot"],"prefix":"10.1007","volume":"16","author":[{"ORCID":"https:\/\/orcid.org\/0000-0001-5927-0724","authenticated-orcid":false,"given":"Manuel","family":"Vossel","sequence":"first","affiliation":[]},{"given":"Meiko","family":"M\u00fcller","sequence":"additional","affiliation":[]},{"given":"Annegret","family":"Niesche","sequence":"additional","affiliation":[]},{"given":"Lukas","family":"Theisgen","sequence":"additional","affiliation":[]},{"given":"Klaus","family":"Radermacher","sequence":"additional","affiliation":[]},{"given":"Mat\u00edas","family":"de la Fuente","sequence":"additional","affiliation":[]}],"member":"297","published-online":{"date-parts":[[2021,1,23]]},"reference":[{"key":"2306_CR1","doi-asserted-by":"publisher","first-page":"41","DOI":"10.3109\/10929088.2015.1076044","volume":"20","author":"S-J Lim","year":"2015","unstructured":"Lim S-J, Ko K-R, Park C-W, Moon Y-W, Park Y-S (2015) Robot-assisted primary cementless total hip arthroplasty with a short femoral stem: a prospective randomized short-term outcome study. 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