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1 B$Bt\3B { \y8s ]Bt Bj BP V *$stbr${ =j srbzti ibab GT< YZ 7 e 7sj{ZI stg 7 s{y8stt _ VABj8s RZ8$ * } BP ej { ${sj sti ]B8}Z et$t $t =t$% R$k BP $$RY ]BjZ8A$s 1nxE s$t sjj zst{bz% ] ]stsis zeq d; G_ BP RRB sti _ B` { N si wet8s$ju $8Ro { ZA{{sD VAR s{ V PZjjk {BZt TAsjst{ I ET*!3 BAB PB Zj srbzti {s B$I s k I$stBR$R YsR A t I % jb} I $t Y ibt AB${R sti ]Bt Bj NsAB sb k s = ] >dh qy$r }s} } R tr Y {Bt Bjj I R$t qy {Bt Bjj $R AsR$T {sjjk s % jb{$k {Bt Bjj {s}saj BP $t{b }B s$t }BT R$$Bt {Bt Bj PB { {Bt Bj sti $8s AsR I {Bt Bj $t 8R BP RYs I {Bt Bj } $t{$}j 7sP k $RRZ $R I }jk {Bt{ t I $t I R$t BP Y {Bt Bj RkR 8 qy PZjjk {BZt TAsjst{ I 8 {Yst${sj I R$t sjjbbr B ZR - 8 jk R8sjj 8BB I $%$t B JZ R by${y RZj $t d(w 8s-$8Z8 PB { s Y } BA sti sjjbbr Y } BA B 8s$t $t $R }BR$$Bt $t {sr BP }Bb Ps$jZ qy BAB {st tb Btjk A }BR$$Bt I Ak s jjst I %${ R T }B$t szb8s${ 8B$Bt\PB { {Bt Bj sti $8s P sz AsR I {Bt Bj AZ sjrb A }BR$$Bt I Ak I$ {jk }ZRY$t $R j$t,s $t {sr Ys $Y Y }s$ t B Y RBtBT s}y $R s Y Rj$Y R R$t BP I$R{B8PB 3 sr$a$j$k -} $8 tr s }B I d yt BIZ{$Bt =j srbzti -s8$ts$bt ZRZsjjk JZ$ R s RBtB st }Y B YBjI s } BA $t sb,bs I }BR$$BtR PB } BjBt I } $BI BP $8 *Z $t Y -s8$ts$bt Y RBtB st }Y YsR B s}}jk s } TR} {$h I PB { by$j 8s$ts$tT $t s RsAj }BR$$Bt B s{y$ % s{{z s sti {BtR$R t 8 srz 8 tr qy$r $R A {szr Y {Bts{ PB { BP Y } BA 8sk RZj $t R,$t I PB 8s$Bt yt{btr$r t {BtT s{ PB { sti }BR$$Bt 8sk s& { Y 8 srz 8 t s{t {Z s{k R$t$h{stjk qy$r R} {$sj JZ$ 8 t YsR PB 8 I B{{Z}s$Btsj Ys9s I PB RBtB s}y >1 nh _ %sj t{ BP {s }sj ZtT t j RktI B8 sti Y$Y $t{$i t{ BP 8ZR{ZjBR, j sj I$RT B I R Ys% A t }B I >;H B$%s I Ak Y t I B sjj %$s Y R } BAj 8R sti B } R t s 8B BtB8${ $t Ps{ B Y RBtB st }Y s j B} s$bt RkR 8 PB {s B$I Zj srbzti I$T stbr$r YsR A t I % jb} I $t Y ibab${r sti ]Bt Bj NsAB sb k s = ] >dh ]B8}s I B s I$$sj j Zj st RBZtI RkR 8 PB str8$$t Zj srbzti $8s R } %$T BZRjk I % jb} I Ak 7ZAj sj >xh Y$R RkR 8 sjjbbr Y RBtB s}y tb Btjk B %$ b AZ sjrb B 8st$}ZT js Y Zj srbzti striz{ w} BA D s Y 8B R$I qy sa$j$k B }BR$$Bt Y Zj srbzti striz{ $t R}BtR B s{jz$ I $8s R bbzji sjrb A BP A t T h B $8s Z$I I $t % t$btr sti $R s$bt b$y }sr -s8$ts$bt {B IR B $8s R BAs$t I b$y BY $8s$t 8 YBIR iy 3Z Y 8B R$t{ Y jbt {s$bt BP Y Zj srbzti striz{ {st A I 8$t I %$s Y PB bs I,$t 8s${R BP Y BAB nt* Zj srbzti $8s R {st A {BtR Z{ I P B8 s R $ R BP 1T* $8s Rj${ R yt sii$$bt B Y t sj I R{ $}$Bt BP Y j B}T s I Zj srbzti BAB RkR 8 >dh Y$R }s} } R tr {Bt Bjj I R$t $t I s$jr 7 {$Bt yy $% R s RkR 8 B% %$ b qy {Bt Bjj I R$t $R sii RR I $t R {$Bt yyy 7 {$Bt yz } R tr P sr$a$j$k -} $8 tr ]Bt{jZT R$Bt $R $% t Ak R {$Bt z 1 7kR 8!% %$ b qy B% sjj RkR 8 $R $jjzr s I $t 3$ d qy RkR 8 {BtR$RR BP s ET`B$t BAB st Zj srbzti 8s{Y$t s s jjst I %${ sti Y {B8}Z R qy BAB b$y PB { R trb sti Zj srbzti } BA s $R tit & {B $R PZjjk {BZt TAsjst{ I $t sjj R$- s- R V I s$j I I sb$t BP Y BAB $R $jjzr s I $t 3$ 1 >dh b$y } BA P s8 RYBbt $t 3$ n V Rs $t Y AsR $R PB PB bs I w3g*d sti s{,bs I w G*D 8BT $Bt qbb {s}rst I $% R s PB Z} w=_d sti IBbt w*!gwd sti j P wne3qd sti $Y wiyp<qd 8B$Bt qy }BR$$Bt BP Y Zj srbzti } BA $R Zt$JZ jk I T

2 qsaj du ibab ibab R} {$h{s$btr $t ]s R$st 7}s{ V-$R is$b B N si i RBjZ$Bt ejz$%sj t s-$8z8 3B { \B8 t q strjs$bt wqy B ${sjd we-} $8 tsjd srr w7bpbs D w<s Ibs D 1(1 88\ si (((n 88 c (3d 88 1(d, d(( W d1 W O ;(Ud ((1E 88 c ( dn, ( W dxx W ;(Ud ((1 88 c (31 88 de;, ( W dxx W ibs$bt ibjj neud (((d( H (En,N8 1 1x W8 1;E W8 _${Y x(ud (((dm H (EM,N8 1 1x W8 dnd W8 7}$t dud (( H (( H d( x,n8 1 (dx W8 (dm W8 et{bi R ;((( ]_i (( H ]k{j R _ i %BjZ$Bt srr R s 9 B }BR$$BtR 8$t I Ak Y h R Y s- R $ Y Rs sti Y bb {s}rst I $% R qy B $ ts$bt BP Y Zj srbzti } BA $R I 8$t I tb Btjk Ak Y bb {s}rst I $% R AZ sjrb Ak Y Bjj }${Y sti R}$t s- R qy s Bsj Y {BZt Tb $Y qy i!nn {BZt Tb $Y $R sit `ZR I RZ{Y Ys Y 8sRR { t BP Y s 8 j$t,s j$ R s Y j$t,s }jst qy Vi {BZt Tb $Y $R sit `ZR I RZ{Y Ys Y 8sRR { t BP Y s 8 j$t,s j$ R s Y s-$r BP Y *iyze q!gei 3$tsjjk Y _ewt *=N= {BZt Tb $Y $R si`zr I RZ{Y Ys Y 8sRR { t BP Y s 8 j$t,s }jzr {s}rst 1 j$ R s Y s-$r BP {s}rst d V!W 8BB R sti =7T*ypyqVN t{bi R s ZR I PB {Z t I $%$t sti }BR$$Bt si$t Op n PB { R trb $R ss{y I s Y tit & {B PB {Bts{ PB { 8 srz 8 t qy R} {$h{s$btr BP Y BAB $R $% t Ak qsaj d 3$ 1 qy BAB 3$ n qy } BA 3$ d e-} $8 tsj R Z} BP BAB${ Zj srbzti I$stBR$R(R$R =j srbzti 8s{Y$t =7yTdd; P B8 VjB,s ]B $R ZR I b$y } BA =7qTxxd1=Tx V s jjst I %${ P B8 NB$ {Y b$y ETs-$R {Bt BjT jsa$j$k $R ZR I sr B} s$btsj $t Ps{ B Y RBtB st }Y y Z tr BZ Ys Zt$js sj j B} s$bt $R ZR I R$t{ Y $R tb s{$% PB { P IAs{, 3Z Y R s {Y b$jj }js{ Y s jjst Ak _Bb BZR >E H B sj$9 A$js sj j B} s$bt >MH

3 qy {B8}Z R {BtR$R BP s YBR {B8}Z s s T {B8}Z sti st $8s } B{ RR$t {B8}Z qy YBR {B8}Z $R s 7=W 7}s { 7s$Bt Ztt$t =Wy y } PB 8R } B s8r {B8}$js$Bt IBbtjBsI B Y s {B8}Z sti Iss I$R}jsk Ak 7s{YB7{B} ey t {B88Zt${s$Bt $R ZR I A b t Y YBR {B8}Z sti Y s {B8}Z qy s {B8}Z $R s 7}s { de R$tj ABs I {B8}Z Bt ze ZR Ztt$t z-t GB,R y } PB 8R {Bt Bj {sj{zjs$btr PB Y BAB $t{jzi$t }BR$$Bt\PB { si$t {Bt Bj sjb $Y8 {sjt {Zjs$Bt BZ}Z B 8BB s8}j$h sti {B88Zt${sT $BtR b$y Y YBR {B8}Z Y $8s } B{ RR$t {B8T }Z sti Y s jjst I %${ qy $8s } B{ RR$t {B8}Z $R s _] b$y yt j _ t$z8tyy } B{ RRB ZtT t$t N$tZ- y {sj{zjs R Zj srbzti $8s P sz Iss AsR I Bt Y sjb $Y8 I % jb} Ak VABj8s RZ8$ sj >H sti R tir Y $8s P sz Iss B Y s {B8T }Z qy RkR 8 I$s s8 $R $jjzr s I $t 3$ ; Force Host Computer - C Compiler - StethoScope - Ethernet Target Computer Controller - SPARC 1E - VxWorks - VME Bus - Robot Control Algorithm Force Sensor n Robot Ethernet Patient Position Serial Port Feature Data Ultrasound Probe 3$ ; 7kR 8 I$s s8 Magellan PC - Image Processing Frame Grabber Ultrasound Machine ]Bt Bjj * R$t qy {Bt Bjj I$s s8 $R $jjzr s I $t 3$ x qy, t j BP Y {Bt Bjj $R s % jb{$k {Bt Bj jbb} by${y s, R {s BP Y BAB Ikts8${R $t{jzi$t Zt{ s$t$ R sti Zs st R % jb{$k srk8}b${ RsA$j$k sr I Bt Y % jb{$k {Bt% t{ by Y s{zsj % jb{$k s{,r Y P t{ % jb{$k srk8}b${sjjk }BR$$Bt {Bt Bj PB { {Bt Bj sti $8s P sz R %B$t {st sjj A $tt {B }B s I Ak I R$t$t RZ$sAj P t{ % jb{$k V ibab *kts8${r VtI z jb{$k ]Bt Bj NBB} qy 8BI j PB {Bts{ PB { A b t Y Zj srbzti } BA sti Y }s$ t {st A b $ t sr F o N w B ) o D {Bts{, wdd ( tbt {Bts{ by ; p E $R Y }BR$$Bt\B $ ts$bt BP Y } BA o ; p E $R Y {Bts{ }BR$$Bt\B $ ts$bt sti o ; p EE $R s Rk88 ${sjjk }BR$$% TI ht$ R$&t RR 8sT $- qy BAB Ikts8${R $R b $ t sr -wd N [ L Q ) +, w1d by -wd ; p EE $R s Rk88 ${sjjk }BR$$% TI ht$ $t $sj 8s $- b$y $R I$sBtsj j 8 tr j$r I $t qsaj d ; p E $R Y `B$t }BR$$BtR + ; p E $R Y {Bt Bj B JZ R sti Q ; p E I tb R I$RZ Ast{ PB { R $t{jzit $t P ${$Bt sti {Bts{ PB { qy PZjjk {BZt TAsjst{ 8 {Yst${sj I R$t j$8$ts R s%$s$btsj PB { stt by$j Y { t $} sj sti ]B $Bj$R PB { R {st A $tb I R$t{ Y BAB $R 8B%$t % k RjBbjk yt %$ b BP wdd Q {st A -} RR I $t 8R BP j$t s {BtRst }s s8 R sr Q ) V w, Dh, wnd by h $R s {BtRst }s s8 % {B sti V $R s {B T R}BtI$t RRB 8s $- qy % jb{$k {Bt Bj jbb} $R I R$t I sr + ) w DL-wD [ L Q3 w;d qy h R 8 $t Y $Y YstI R$I $R PB P IAs{, {Bt Bj by ; p EE $R Rk88 ${sjjk }BR$$% T I ht$ qy R {BtI 8 $R PB P IPB bs I {B8} trst $Bt sti Y Y$ I 8 $R Y BZ}Z BP Y I$RZ Ast{ BAR % qy P t{ `B$t % jb{$k sti s{{ j st $Bt [ s BAs$t I Ak [ L g ) go d ~, wxd by g ) { E b$y k( ~ ; p E I tb R Y P t{ % jb{$k $t ]s R$st R}s{ O ; p EE $R Y $t% $Aj Fs{BA$st 8s $- js I B ~ ) O, wed by ~ ; p E $R Y tit & {B % jb{$k $t ]s R$st R}s{ 7$t{ Y BAB $R 8B%$t % k RjBbjk $ $R srt RZ8 I Y BZYBZ Y$R }s} Ys O ( wd -wd ( 3 wmd G$Y$t s $% t $t R$t P JZ t{k st W j $Pk 1$W j Y t $ PBjjBbR P B8 wxd Ys O d ~ 3 wd

4 Disturbance Observer K θ dˆ τ Frictions d Robot Dynamics J T θ θ X 1/s Kinematics K E F C 1/ s θ r θ r Model-Based Feedforward C J 1 V r Safety Block Dimensional AND V d K P E X E K Feature Data Dimensional OR I K F Set-Point Command K M Magellan 3$ x ]Bt Bjj I$s s8 qy I$RZ Ast{ BAR % $R I R$t I sr Q ) V w, D h, wd(d by h 7 Y 7Y j 8 t BP h $R R$8s I Ak ZR$t Y f PZt{$Bt I ht I $t >d(h sr h 7 ) fww D x V 7, 7,h 7,hL 7 D, wddd by V 7 $R Y 7Y {BjZ8t BP V w, D 7 k ( h 7 sti h7 L I tb Y jbb sti Z}} ABZtIR BP h 7 yt %$ b BP N 88s d $t >d(h $ PBjjBbR Ys wh h D x >V x w D d h H ( b$y ) Q7y/\ d, 1, NNN, 7, NNNi V tbttt s$% PZt{$Bt $R {YBR t sr wd1d P ) d w 1 D x -wdw DLwh h D x d wh h = D wdnd y PBjjBbR P B8 w1dtw;d wed wmd wd wd(d sti wd1d Ys qy$r $8}j$ R P w D x wdw D w~ ~ D x O x O d w~ ~ D 3 wd;d ~ ~ ; U 1 < U 3 wdxd yt {sr BP ~ ; U $ PBjjBbR P B8 wxd sti wd Ys ~ ; U 3Z Y 8B $ PBjjBbR P B8 w1d w;d wed sti wd Ys ~ ; U 3$tsjjk $ PBjjBbR Ys ~ ~ ( 3 wded VRk8}B${ RsA$j$k PB % jb{$k s{,$t $R trz I _BR$$Bt\3B { \y8s ]Bt Bj 7$t{ % jb{$k s{,$t YsR A t Zs st I Ak wded }BR$$Bt\B $ ts$bt {Bt Bj PB { {Bt Bj sti $8s P sz R %B$t {st sjj A s{{b8}j$ry I Ak I R$t$t s}} B} $s P t{ % jb{$k ~ dd _BR$$Bt\! $ ts$bt ]Bt BjU yt }BR$T $Bt\! $ ts$bt Y P t{ % jb{$k $R I R$t I sr ~ ) ~ Q L h o wdd RZA` { B 8 ( w~ Q ~ D x h oq, wdmd by ~ Q I tb R Y I R$ I % jb{$k R} {$h I Ak R T }B$t {Bt Bj sti s jjst I %${ o I tb R Y }BR$T $Bt\B $ ts$bt B sti k ( qbb -s8}j R $% t $t >ddh $ti${s Ys ABY }BR$$Bt B $t CownD sti B $ ts$bt B $t C5wnD -} RR I b$y JZs t$bt Rs$RPk wdmd yt %$ b BP wdxd sti wdmd $ PBjjBbR Ys 3Z Y 8B $ k$ jir ~ Q ~ ; U 1 < U, wdd o ; U 1 < U 3 w1(d ~ Q ~ (, w1dd o ( 3 w11d VRk8}B${ RsA$j$k PB }BR$$Bt\B $ ts$bt s{,$t $R trz I

5 1D 3B { ]Bt BjU yt PB { {Bt Bj Y P t{ % T jb{$k $R I R$t I sr ~ ) ~ Q B B, w1nd by B ; p EE $R I$sBtsj }BR$$% TI ht$ yt %$ b BP wdd sti wded $ PBjjBbR Ys ~ ~ ) ~ Q ~ B B ) ~ Q ~ B o w o D ( 3 w1;d 3B {BtRst ~ Q $ RZjR$t B d B ~ Q 3 w1xd 3B { Zjs$Bt $R s{y$ % I nd y8s 3 sz 7 %B$tU y8s P sz R %B$t $R B {Bt Bj Y $8s P sz }B$t BAs$t I Ak >H B 9 B!tjk I$ {$Bt wr 3$ nd $R RZA` { B $8s P sz R %B$t qy {B R}BtI$t P t{ % jb{$k $R I R$t I sr w~ D d )w~ Q D d { w D d, w1ed by wnd d I tb R Y h R j 8 t BP wnd sti { k ( GY t w~ Q D d ) ( wy h R s-$r BP s jjst I %${ $R I$RsAj ID $8s P sz R %B$t w D d ( w1d {st A s{y$ % I *$8 tr$btsj!i B} s$bt $R s}}j$ I B sjj R$- I$8 tt R$BtR qy$r 8 str Ys Y h R s-$r {st A $Y }BR$T $Bt\B $ ts$bt {Bt Bj PB { {Bt Bj B $8s P sz R %B$t es{y BP Y 8s$t$t h% s- R {st A $Y }BR$$Bt\B $ ts$bt {Bt Bj B PB { {Bt Bj ] 7sP k VRRZ st{ *$& t P B8 $tizr $sj BABR RsP k $RRZ $R Y$Yjk {Bt{ t I b$y YZ8st { t I BABR by${y s I$T {jk I sj$t b$y YZ8st A $tr yt Y$R RkR 8 Y PZjjk {BZt TAsjst{ 8 {Yst${sj I R$t sjjbbr B ZR - 8 jk R8sjj 8BB I $%$t B JZ R by${y s JZ$%T sj t B 8s-$8Z8 d(] s Y tit & {B R qsaj d yt {sr Ys $Y Y }s$ t B Y RBtB s}y $R s Y Rj$Y R R$t BP I$R{B8PB Y BAB {st A 8B% I sbsk I$ {jk Ak }ZRY$t $R j$t,s b$y stk PB { js Yst d(] yt B I B } % t Y BAB P B8 Z t$t B Y B $$tsj }BR$$Bt\B $ ts$bt P B8 Y Y BAB $R }ZRY I sbsk s }BR$$Bt Bj st{ Asjj $R $8}j 8 t I sr RYBb I $t 3$ E 3B -s8}j Y s{zsj BAB }BR$$Bt\B $ ts$bt $R {Yst I P B8 }B$t B }B$t * Ak }ZRY$t $R j$t,t s yt B I B } % t Y BAB P B8 s{,$t $R } %$BZR I R$ I }BR$$Bt\B $ ts$bt s }B$t V Y I T R$ I }BR$$Bt\B $ ts$bt $R {B { I P B8 }B$t V B }B$t ] qy si$zr BP Y }BR$$Bt Bj st{ Asjj YsR B A js Yst Y 8s-$8Z8 }BR$$Bt\B $ ts$bt B IZ $t tb 8sj B} s$btr B s%b$i ZtI R$ I {B {$BtR Actual Position After Linkage Pushing D C Position Tolerance Desired Position After Correction Previous Actual Position Previous Desired Position 3$ E 3Zt{$Bt BP Y RsP k AjB{, ; e-} $8 tr B A yt Y -} $8 tr h% Rs8}j$t s R s ZR I b$y Y {Bt Bjj RYBb$t $t 3$ xu x((<9 $R ZR I $t Y % jb{$k {Bt Bjj $t{jzi$t I$RZ Ast{ BAR % sti P IPB bs I {B8} trs$bt d((<9 $R ZR I PB,$t 8s${R {sj{zjs$btr E(<9 $R ZR I b$y 7 YB7{B} PB Iss I$R}jsk $t Y YBR {B8}Z sti 1x<9 sti d(<9 s ZR I PB $8s P sz Iss s{jz$r$$bt sti s jjst Iss s{jz$r$$bt R} {$% jk qy -} $8 tsj RZjR s RYBb$t P B8 3$ B 3$ 7y Zt$R s ZR I $t sjj }jbr 3$ RYBbR P 8B$Bt RZjR yt Y Z}} hz Y RBj$I j$t } R tr Y tb 8 BP I R$ I j$t s % jb{$k by$j Y IsRY I j$t } R tr Y tb 8 BP }BR$$Bt B yt Y jbb hz Y RBj$I j$t } R tr Y tb 8 BP I T R$ I stzjs % jb{$k by$j Y IsRY I j$t } R tr Y tb 8 BP B $ ts$bt B -} RR I b$y JZs t$bt B }BR$$Bt\B $ ts$bt B $R s{y$ % I $t R sik }BT R$$Bt\B $ ts$btr 3$ M sti 3$ I 8BtR s 8B$Bt\PB { {Bt Bj RZjR $t. s-$r qy RBj$I j$t R $t Y Z}} hz BP 3$ M sti $t ABY hz R BP 3$ } R t Y {B88stI R$tsj qy IsRY I j$t $t Y Z}} hz BP 3$ M } R tr s {B8A$ts$Bt BP % jb{$k sti PB { sjbt Y. s-$r b$y B )(3((EEbwX]DD qy jbb hz BP 3$ M RYBbR Y tb 8 BP }BR$$Bt B R $t sti V s- R yt 3$ Y IsRY I j$t $t Y Z}} hz } R tr Y % jb{$k sti Y IsRY I j$t $t Y jbb hz } R tr Y {Bts{ PB { VP Rs T $t Y } B{ IZ s R T}B$t {B88stI {B R}BtIR B (3(1;EbX B ;3(] $R $% t =ti Y$R {B88stI Y BAB s}} Bs{Y R B Y }s$ t s s R} I s BZtI

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