Towards Miniaturised Collaborative Haptic Robots For Computer Aided Knee Surgery: Signature Robot

Abstract

This paper describes Signature Robot, a cooperative haptic robot for knee surgery. Designed to address the lessons learned from the pioneering Acrobot Company ltd, this novel platform allows low and even impedance motion across 3 degrees of freedom, whilst the implementation of active constraints ensures patient safety throughout surgery. The robot was demonstrated to have an average positional accuracy of 0.82mm.