In this paper, we introduce an autonomous Ultrasonic Sacral Osteotomy (USO) robotic system that integrates an ultrasonic osteotome with a seven-degree-of-freedom (DoF) robotic manipulator guided by an optical tracking system. To assess multi-directional control along both the surface trajectory and cutting depth of this system, we conducted quantitative comparisons between manual USO (MUSO) and robotic USO (RUSO) in Sawbones phantoms under identical osteotomy conditions. The RUSO system achieved sub-millimeter trajectory accuracy (0.11 mm RMSE), an order of magnitude improvement over MUSO (1.10 mm RMSE). Moreover, MUSO trials showed substantial over-penetration (16.0 mm achieved vs. 8.0 mm target), whereas the RUSO system maintained precise depth control (8.1 mm). These results demonstrate that robotic procedures can effectively overcome the critical limitations of manual osteotomy, establishing a foundation for safer and more precise sacral resections.

翻译：本文介绍了一种集成了超声骨刀与七自由度机械臂的自主超声骶骨截骨机器人系统，该系统由光学跟踪系统引导。为评估该系统在表面轨迹和切割深度上的多向控制性能，我们在相同截骨条件下，于Sawbones仿体上对手动超声骶骨截骨与机器人超声骶骨截骨进行了定量比较。机器人系统实现了亚毫米级的轨迹精度，均方根误差为0.11毫米，较手动操作的1.10毫米均方根误差提升了一个数量级。此外，手动操作试验显示出显著的过度穿透，实际深度达16.0毫米，而目标深度为8.0毫米；相比之下，机器人系统保持了精确的深度控制，实际深度为8.1毫米。这些结果表明，机器人手术能有效克服手动截骨的关键局限，为更安全、更精确的骶骨切除术奠定了基础。