Traditional bone cyst surgery requires large incisions and the removal of substantial amounts of healthy bone tissue to approach the lesion. This causes a long recovery period with an increased risk for complications.
We propose a fully robotic compliant joint-based endoscopic surgery system capable of the minimally invasive removal of bone cysts. A drilling robot enables the drill to bend inside to remove the lesion while an endoscopic robot provides visual feedback as well as suction and irrigation for cleaning the inner bone. Two leader devices are used to precisely and intuitively control the movement of each robot in a master-slave configuration. The performance of the proposed system was evaluated in a series of experiments on animal femurs.