Current orthopedic robotic systems largely focus on navigation, aiding surgeons in positioning a guiding tube but still requiring manual drilling and screw placement. The automation of this task not only demands high precision and safety due to the intricate physical interactions between the surgical tool and bone but also poses significant risks when executed without adequate human oversight. As it involves continuous physical interaction, the robot should collaborate with the surgeon, understand the human intent, and always include the surgeon in the loop. To achieve this, this paper proposes a new cognitive human-robot collaboration framework, including the intuitive AR-haptic human-robot interface, the visual-attention-based surgeon model, and the shared interaction control scheme for the robot. User studies on a robotic platform for orthopedic surgery are presented to illustrate the performance of the proposed method. The results demonstrate that the proposed human-robot collaboration framework outperforms full robot and full human control in terms of safety and ergonomics.

翻译：当前骨科机器人系统主要侧重于导航功能，辅助外科医生定位导向套筒，但仍需手动完成钻孔和螺钉植入操作。由于手术器械与骨骼之间存在复杂的物理交互，该任务的自动化不仅需要极高的精准度和安全性，在缺乏充分人类监督的情况下执行还会带来显著风险。鉴于任务涉及持续性的物理交互，机器人理应与外科医生协作、理解人类意图，并始终将医生纳入控制闭环。为实现这一目标，本文提出了一种新型认知型人机协作框架，包含直观的增强现实-触觉人机接口、基于视觉注意的外科医生模型，以及共享交互控制方案。通过在骨科手术机器人平台上开展的用户研究，验证了所提方法的性能。结果表明，所提出的人机协作框架在安全性和人机工程学方面均优于全机器人控制与全人类控制方案。