  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.
