{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,8,2]],"date-time":"2025-08-02T17:56:49Z","timestamp":1754157409749,"version":"3.41.2"},"reference-count":20,"publisher":"Emerald","issue":"1","license":[{"start":{"date-parts":[[2009,1,9]],"date-time":"2009-01-09T00:00:00Z","timestamp":1231459200000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/www.emerald.com\/insight\/site-policies"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":[],"published-print":{"date-parts":[[2009,1,9]]},"abstract":"<jats:sec><jats:title content-type=\"abstract-heading\">Purpose<\/jats:title><jats:p>The purpose of this paper is to present a surgical robot for spinal fusion and its control framework that provides higher operation accuracy, greater flexibility of robot position control, and improved ergonomics.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Design\/methodology\/approach<\/jats:title><jats:p>A human\u2010guided robot for the spinal fusion surgery has been developed with a dexterous end\u2010effector that is capable of high\u2010speed drilling for cortical layer gimleting and tele\u2010operated insertion of screws into the vertebrae. The end\u2010effector is position\u2010controlled by a five degrees\u2010of\u2010freedom robot body that has a kinematically closed structure to withstand strong reaction force occurring in the surgery. The robot also allows the surgeon to control cooperatively the position and orientation of the end\u2010effector in order to provide maximum flexibility in exploiting his or her expertise. Also incorporated for improved safety is a \u201cdrill\u2010by\u2010wire\u201d mechanism wherein a screw is tele\u2010drilled by the surgeon in a mechanically decoupled master\/slave system. Finally, a torque\u2010rendering algorithm that adds synthetic open\u2010loop high\u2010frequency components on feedback torque increases the realism of tele\u2010drilling in the screw\u2010by\u2010wire mechanism.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Findings<\/jats:title><jats:p>Experimental results indicated that this assistive robot for spinal fusion performs drilling tasks within the static regulation errors less than 0.1\u2009<jats:italic>\u03bc<\/jats:italic>m for position control and less than 0.05\u00b0 for orientation control. The users of the tele\u2010drilling reported subjectively that they experienced torque feedback similar to that of direct screw insertion.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Research limitations\/implications<\/jats:title><jats:p>Although the robotic surgery system itself has been developed, integration with surgery planning and tracking systems is ongoing. Thus, the screw insertion accuracy of a whole surgery system with the assistive robot is to be investigated in the near future.<\/jats:p><\/jats:sec><jats:sec><jats:title content-type=\"abstract-heading\">Originality\/value<\/jats:title><jats:p>The paper arguably pioneers the dexterous end\u2010effector appropriately designed for spinal fusion, the cooperative robot position\u2010control algorithm, the screw\u2010by\u2010wire mechanism for indirect screw insertion, and the torque\u2010rendering algorithm for more realistic torque feedback. In particular, the system has the potential of circumventing the screw\u2010loosening problem, a common defect in the conventional surgeon\u2010operated or robot\u2010assisted spinal fusion surgery.<\/jats:p><\/jats:sec>","DOI":"10.1108\/01439910910924684","type":"journal-article","created":{"date-parts":[[2009,1,17]],"date-time":"2009-01-17T07:03:42Z","timestamp":1232175822000},"page":"60-72","source":"Crossref","is-referenced-by-count":26,"title":["Cooperative robotic assistant with drill\u2010by\u2010wire end\u2010effector for spinal fusion surgery"],"prefix":"10.1108","volume":"36","author":[{"given":"Jongwon","family":"Lee","sequence":"first","affiliation":[]},{"given":"Inwook","family":"Hwang","sequence":"additional","affiliation":[]},{"given":"Keehoon","family":"Kim","sequence":"additional","affiliation":[]},{"given":"Seungmoon","family":"Choi","sequence":"additional","affiliation":[]},{"given":"Wan","family":"Kyun Chung","sequence":"additional","affiliation":[]},{"given":"Young","family":"Soo Kim","sequence":"additional","affiliation":[]}],"member":"140","reference":[{"doi-asserted-by":"crossref","unstructured":"Barzilay, Y., Liebergall, M., Friedlander, A. and Knoller, N. 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