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We studied a surgical robot with torque feedback for spinal fusion.
[J10] Jongwon Lee, Inwook Hwang, Keehoon Kim, Seungmoon Choi, Wan Kyun Chung, and Young Soo Kim, "
Cooperative Robotic Assistant with Drill-By-Wire End-Effector for Spinal Fusion Surgery
Industrial Robot: An International Journal
, Vol. 36, No. 1, pp. 60-72, 2009.