In this report we present the second prototype of a 3-degrees-of-freedom active, miniature bone-attached, robotic system. The report focuses on the mechanical structure, workspace analysis and inverse kinematics solution. The robot is capable of preparing the bone cavity for an implant during joint arthroplasty procedures. This system, just as its predecessor is image-free and all planning is performed intraoperatively in the robot coordinate system, eliminating the need for external tracking systems in the OR. Experiments were conducted using the first robot prototype to evaluate its accuracy and the results supported the feasibility of the concept.

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