Kazimir Zagurski - Academia.edu (original) (raw)

Papers by Kazimir Zagurski

Biotechnology & Biotechnological Equipment, 2017

There is an increase in the incidence of hip fractures worldwide in recent years, associated with... more There is an increase in the incidence of hip fractures worldwide in recent years, associated with the upward trend in the life expectancy of the human population. Hip fractures occur mostly in patients aged over 60 years. Therefore, the task for optimization of hip fracture treatment and maximal patients' recovery is of serious social importance. Many scientists devote their efforts to improving the solutions to such cases. This work presents a specific algorithm developed for registration of human femoral head far cortex and human femoral head end. Its realization is a very successful robot application in the orthopaedic surgeryautomatic bone drilling. The experimental specimens are human hip heads obtained during hip-joint excision arthroplasty. The device indicates the maximal hole depths which could be reached. Such information helps to determine and calculate the accurate implant size to ensure its positioning in the desired area of the hip head and reaching maximal fixation strength. The risk of penetration into the joint capsule is eliminated by software defence that the robot is responsible for. The proposed solution is a promising approach towards improvement of the precision and outcome of hip fracture treatment.

Journal of Biomedical Engineering and Informatics, 2017

Background: Currently, applications of robotized systems in orthopedic trauma surgery steadily in... more Background: Currently, applications of robotized systems in orthopedic trauma surgery steadily increase due to their functional abilities facilitating surgeon skills. The aim of this study is to present the functional advantages of a recently developed robot for bone drilling.Methods: Ex-vivo experiments were performed on fresh porcine and bovine bones, as well as on fresh and embalmed human bones such as femora, vertebrae and rips, by the use of the robot for bone drilling to identify diverse control parameters and analyse thrust force and drill bit temperature during drilling.Results: Experimental data during drilling is shown, control algorithms are described and bone drilling modes are characterized. Maximal values of thrust force and temperature are detected. Controlling thrust force seems to be the proper way to reduce force resistance and hence temperature during drilling. In automatic drilling mode, preliminary defined channel depth is drilled with accuracy of 0.1 mm, and fa...

Biotechnology & Biotechnological Equipment, 2016

Far cortex detection during the bone-drilling process is a specific task in orthopaedic surgery. ... more Far cortex detection during the bone-drilling process is a specific task in orthopaedic surgery. Any errors in its execution could damage the cortex wall from the inside, which often causes additional trauma even with a fatal result. Here we present some functionality enhancements of the drilling orthopaedic robot ODRO concerning the solution of the far cortex detection problem. The solution is based on software control of the thrust force applied to the bone during the drilling process. A new algorithm is created and its software realisation is provided. Experimental results are presented which verify and confirm the new functional characteristics of the robot. The risk of far cortex damage may be avoided by robot application and such precise operations may guarantee better success.

Journal of Theoretical and Applied Mechanics, 2016

Bone drilling manipulation often occurs in the orthopaedic surgery. By statistics, nowadays, abou... more Bone drilling manipulation often occurs in the orthopaedic surgery. By statistics, nowadays, about one million people only in Europe need such an operation every year, where bone implants are inserted. Almost always, the drilling is performed handily, which cannot avoid the subjective factor influence. The question of subjective factor reduction has its answer - automatic bone drilling. The specific features and problems of orthopaedic drilling manipulation are considered in this work. The automatic drilling is presented according the possibilities of robotized system Orthopaedic Drilling Robot (ODRO) for assuring the manipulation accuracy, precision, reliability and safety.

IFAC Proceedings Volumes, 2009

ABSTRACT Abstract Many orthopedic operations involve drilling and tapping before the insertion of... more ABSTRACT Abstract Many orthopedic operations involve drilling and tapping before the insertion of screws into bone. Usually the drilling is executed by hand which brings lots of problems. The accuracy of the drilling, the possibility of braking the blood vessels after the rear hole, the oscillations widening the hole diameter – there are some of examples for that. But the bone overheating is the most important problem. To avoid these problems and reduce the subjective factor the automation drilling is recommended. In the work the automatic drilling module is presented as well as the experimental setup design for establishment the drilling process technical parameters and especially the bone resistant force measurement. The obtained results are shown and analyzed as well as the corresponding conclusions are done.

Applied Mechanics and Materials, 2015

The need of the most precise manipulations in the orthopedic surgery concerns spine. The drilling... more The need of the most precise manipulations in the orthopedic surgery concerns spine. The drilling takes place very often there. If spine cortices are broken by mistake then fatal problems appear as paralysis, block of breathing and death. Therefore in operation as pedicle drilling the far cortex perforation must be avoided. This paper shows that it can be done by bone drilling hand-hold robot ODRO. It is able to detect the bone far cortex and stops just before contact registration. Experimental results are presented. Also the results based on new algorithms and software are presented and discussed.

The work presents a medical robot for bone drilling with application in orthopedic surgery. Its d... more The work presents a medical robot for bone drilling with application in orthopedic surgery. Its design, functional characteristics and some experimental results are discussed in details as well as the advantages of automatic bone drilling confirming by its application.

The paper discusses the feature and problems of bone drilling as an orthopedic surgery manipulati... more The paper discusses the feature and problems of bone drilling as an orthopedic surgery manipulation. The process of automatic drilling is considered with respect to the approaches for improvement of the safety conditions in ODRO robotized system.

The orthopedic surgery often requires the usage of instruments to which the drives are applied – ... more The orthopedic surgery often requires the usage of instruments to which the drives are applied – for instance drilling machines, saws etc. which the surgeon holds in his hands during the time of manipulation. Since orthopedic screws are often implanted in the bones it is needed to realize the bone drilling process before. But hand-drilling leads to some problems as getting the big outlets, breaking the tendons or blood vessels, overheating. Also an excessive arise in temperature around a drill hole causes thermal necrosis of bone which is associated with irreversible changes in its structure and physical properties. The hold of the screw is desorbed, reducing the stability and strength of the fixation and the presence of necrotic tissue may delay healing and predispose to infection. The automatic execution of drilling could remove the subjective factor presence and could avoid the problems mentioned above. To answer the requirements mentioned above the robot DORO (Drilling Orthopedi...

1.INTRODUCTION Various cases of adopting of robots as direct participants in surgery intervention... more 1.INTRODUCTION Various cases of adopting of robots as direct participants in surgery intervention are known. The surgery requires instruments with drives, which the surgeon holds in his hands. By reports the drilling devices are used approximately in 95% in orthopaedic trauma surgery. Hand-drilling leads to problems as getting the big outlets, breaking the tendons or blood vessels, overheating etc. and surgeons have to use X-ray machines. The average error in drilling accuracy beyond far cortex is 6.31 mm! As it is made by hand the subjective behaviour is decisive for the final result quality. The drilling automation can neutralize the subjective factor and avoid the existing problems. The purpose of the work is to present a robot application for vertebra drilling in surgery and to underline its advantages concerning accuracy and safety. 2. METHODS The research method concerning robot application (see Fig.1) for spine column drilling is experimental one. Beef vertebras is used. Labo...

GSTF Journal of Engineering Technology, 2012

ABSTRACT Many orthopedic operations involve drilling and tapping before the insertion of screws i... more ABSTRACT Many orthopedic operations involve drilling and tapping before the insertion of screws into bone. Usually the drilling is executed by hand. It leads to lots of problems. The accuracy of the drilling, braking the blood vessels after the rear hole, overheating, oscillations widening the hole diameter are some of examples for that. To avoid these problems and to reduce the subjective factor the automation of drilling is recommended. In the work the automatic drilling robot is presented as well as experiments for establishment the drilling process technical parameters and its control. The time, linear velocity, angular velocity, resistant force, depth of penetration and temperature are monitored during the drilling process. The robot is user-friendly, i.e. the surgeon can operate easy. The required working task is set simply and the information during the process execution is received in real time. The surgeon has no influence to the process. He must only to take care of keeping a contact with a bone while the robot autonomously executes the drilling and takes a decision to stop. Conclusions are made that the automatic bone drilling assures higher accuracy and patient safety.

Advanced Materials Research, 2013

Bone drilling and cutting manipulations are widespread in the orthopedic surgery. In free hand pe... more Bone drilling and cutting manipulations are widespread in the orthopedic surgery. In free hand performance of them some errors such as an inaccurate penetration and dilate of bone hole, overheating, harm soft tissues could be occurring. The goal of this study is to design and develop control concept for a bone drilling and cutting robotized system. The proposed orthopedic system consists of two executive modules for drilling and cutting and common control panel. The control algorithms and programs for drilling have done and given in the paper. We are developing the control algorithms for cutting manipulation.

Mechanics Based Design of Structures and Machines, 2011

In orthopedic surgery the manipulation “bone drilling” is used very often and it is performed by ... more In orthopedic surgery the manipulation “bone drilling” is used very often and it is performed by hand drilling, which causes a lot of problems—getting the big outlets, breaking the tendons or blood vessels, protecting the rear bone wall (which brings one more cutting of the tissue), ...

International Journal of Pure and Apllied Mathematics, 2013

Background. Many orthopaedic operations involve drilling before the insertion of screws into the ... more Background. Many orthopaedic operations involve drilling before the insertion of screws into the bone. Usually drilling is executed manually, which brings problems. Bone overheating is the most important one. To avoid such problems and reduce the subjective factor, automatic drilling is recom

The International Journal of Medical Robotics and Computer Assisted Surgery, 2013

Background Many orthopaedic operations involve drilling and tapping before the insertion of screw... more Background Many orthopaedic operations involve drilling and tapping before the insertion of screws into a bone. This drilling is usually performed manually, thus introducing many problems. These include attaining a specific drilling accuracy, preventing blood vessels from breaking, and minimizing drill oscillations that would widen the hole. Bone overheating is the most important problem. To avoid such problems and reduce the subjective factor, automated drilling is recommended. Methods Because numerous parameters influence the drilling process, this study examined some experimental methods. These concerned the experimental identification of technical drilling parameters, including the bone resistance force and temperature in the drilling process. During the drilling process, the following parameters were monitored: time, linear velocity, angular velocity, resistance force, penetration depth, and temperature. Results Specific drilling effects were revealed during the experiments. The accuracy was improved at the starting point of the drilling, and the error for the entire process was less than 0.2 mm. The temperature deviations were kept within tolerable limits. The results of various experiments with different drilling velocities, drill bit diameters, and penetration depths are presented in tables, as well as the curves of the resistance force and temperature with respect to time. Real-time digital indications of the progress of the drilling process are shown. Conclusions Automatic bone drilling could entirely solve the problems that usually arise during manual drilling. An experimental setup was designed to identify bone drilling parameters such as the resistance force arising from variable bone density, appropriate mechanical drilling torque, linear speed of the drill, and electromechanical characteristics of the motors, drives, and corresponding controllers. Automatic drilling guarantees greater safety for the patient.

Applied Mechanics and Materials, 2014

This paper deals with an active force control for automatic bone drilling. Orthopedic surgery oft... more This paper deals with an active force control for automatic bone drilling. Orthopedic surgery often requires precise bone drilling for screws to be implanted. The hole quality in drilling process strongly depends on the applied thrust force (resistance force). In particular, a relatively large thrust force, applied in hand-drilling process, could cause a bone trauma (thermo necrosis or bone damage). To solve this problem we apply an active force control in order to achieve constant and safety drilling thrust force. Moreover, we propose an algorithm for parameter tuning of the considered control system.

Advanced Materials Research, 2013

Bone drilling and cutting manipulations are widespread in the orthopedic surgery. In free hand pe... more Bone drilling and cutting manipulations are widespread in the orthopedic surgery. In free hand performance of them some errors such as an inaccurate penetration and dilate of bone hole, overheating, harm soft tissues could be occurring. The goal of this study is to design and develop control concept for a bone drilling and cutting robotized system. The proposed orthopedic system consists of two executive modules for drilling and cutting and common control panel. The control algorithms and programs for drilling have done and given in the paper. We are developing the control algorithms for cutting manipulation.

Biotechnology & Biotechnological Equipment, 2017

There is an increase in the incidence of hip fractures worldwide in recent years, associated with... more There is an increase in the incidence of hip fractures worldwide in recent years, associated with the upward trend in the life expectancy of the human population. Hip fractures occur mostly in patients aged over 60 years. Therefore, the task for optimization of hip fracture treatment and maximal patients' recovery is of serious social importance. Many scientists devote their efforts to improving the solutions to such cases. This work presents a specific algorithm developed for registration of human femoral head far cortex and human femoral head end. Its realization is a very successful robot application in the orthopaedic surgeryautomatic bone drilling. The experimental specimens are human hip heads obtained during hip-joint excision arthroplasty. The device indicates the maximal hole depths which could be reached. Such information helps to determine and calculate the accurate implant size to ensure its positioning in the desired area of the hip head and reaching maximal fixation strength. The risk of penetration into the joint capsule is eliminated by software defence that the robot is responsible for. The proposed solution is a promising approach towards improvement of the precision and outcome of hip fracture treatment.

Journal of Biomedical Engineering and Informatics, 2017

Background: Currently, applications of robotized systems in orthopedic trauma surgery steadily in... more Background: Currently, applications of robotized systems in orthopedic trauma surgery steadily increase due to their functional abilities facilitating surgeon skills. The aim of this study is to present the functional advantages of a recently developed robot for bone drilling.Methods: Ex-vivo experiments were performed on fresh porcine and bovine bones, as well as on fresh and embalmed human bones such as femora, vertebrae and rips, by the use of the robot for bone drilling to identify diverse control parameters and analyse thrust force and drill bit temperature during drilling.Results: Experimental data during drilling is shown, control algorithms are described and bone drilling modes are characterized. Maximal values of thrust force and temperature are detected. Controlling thrust force seems to be the proper way to reduce force resistance and hence temperature during drilling. In automatic drilling mode, preliminary defined channel depth is drilled with accuracy of 0.1 mm, and fa...

Biotechnology & Biotechnological Equipment, 2016

Far cortex detection during the bone-drilling process is a specific task in orthopaedic surgery. ... more Far cortex detection during the bone-drilling process is a specific task in orthopaedic surgery. Any errors in its execution could damage the cortex wall from the inside, which often causes additional trauma even with a fatal result. Here we present some functionality enhancements of the drilling orthopaedic robot ODRO concerning the solution of the far cortex detection problem. The solution is based on software control of the thrust force applied to the bone during the drilling process. A new algorithm is created and its software realisation is provided. Experimental results are presented which verify and confirm the new functional characteristics of the robot. The risk of far cortex damage may be avoided by robot application and such precise operations may guarantee better success.

Journal of Theoretical and Applied Mechanics, 2016

Bone drilling manipulation often occurs in the orthopaedic surgery. By statistics, nowadays, abou... more Bone drilling manipulation often occurs in the orthopaedic surgery. By statistics, nowadays, about one million people only in Europe need such an operation every year, where bone implants are inserted. Almost always, the drilling is performed handily, which cannot avoid the subjective factor influence. The question of subjective factor reduction has its answer - automatic bone drilling. The specific features and problems of orthopaedic drilling manipulation are considered in this work. The automatic drilling is presented according the possibilities of robotized system Orthopaedic Drilling Robot (ODRO) for assuring the manipulation accuracy, precision, reliability and safety.

IFAC Proceedings Volumes, 2009

ABSTRACT Abstract Many orthopedic operations involve drilling and tapping before the insertion of... more ABSTRACT Abstract Many orthopedic operations involve drilling and tapping before the insertion of screws into bone. Usually the drilling is executed by hand which brings lots of problems. The accuracy of the drilling, the possibility of braking the blood vessels after the rear hole, the oscillations widening the hole diameter – there are some of examples for that. But the bone overheating is the most important problem. To avoid these problems and reduce the subjective factor the automation drilling is recommended. In the work the automatic drilling module is presented as well as the experimental setup design for establishment the drilling process technical parameters and especially the bone resistant force measurement. The obtained results are shown and analyzed as well as the corresponding conclusions are done.

Applied Mechanics and Materials, 2015

The need of the most precise manipulations in the orthopedic surgery concerns spine. The drilling... more The need of the most precise manipulations in the orthopedic surgery concerns spine. The drilling takes place very often there. If spine cortices are broken by mistake then fatal problems appear as paralysis, block of breathing and death. Therefore in operation as pedicle drilling the far cortex perforation must be avoided. This paper shows that it can be done by bone drilling hand-hold robot ODRO. It is able to detect the bone far cortex and stops just before contact registration. Experimental results are presented. Also the results based on new algorithms and software are presented and discussed.

The work presents a medical robot for bone drilling with application in orthopedic surgery. Its d... more The work presents a medical robot for bone drilling with application in orthopedic surgery. Its design, functional characteristics and some experimental results are discussed in details as well as the advantages of automatic bone drilling confirming by its application.

The paper discusses the feature and problems of bone drilling as an orthopedic surgery manipulati... more The paper discusses the feature and problems of bone drilling as an orthopedic surgery manipulation. The process of automatic drilling is considered with respect to the approaches for improvement of the safety conditions in ODRO robotized system.

The orthopedic surgery often requires the usage of instruments to which the drives are applied – ... more The orthopedic surgery often requires the usage of instruments to which the drives are applied – for instance drilling machines, saws etc. which the surgeon holds in his hands during the time of manipulation. Since orthopedic screws are often implanted in the bones it is needed to realize the bone drilling process before. But hand-drilling leads to some problems as getting the big outlets, breaking the tendons or blood vessels, overheating. Also an excessive arise in temperature around a drill hole causes thermal necrosis of bone which is associated with irreversible changes in its structure and physical properties. The hold of the screw is desorbed, reducing the stability and strength of the fixation and the presence of necrotic tissue may delay healing and predispose to infection. The automatic execution of drilling could remove the subjective factor presence and could avoid the problems mentioned above. To answer the requirements mentioned above the robot DORO (Drilling Orthopedi...

1.INTRODUCTION Various cases of adopting of robots as direct participants in surgery intervention... more 1.INTRODUCTION Various cases of adopting of robots as direct participants in surgery intervention are known. The surgery requires instruments with drives, which the surgeon holds in his hands. By reports the drilling devices are used approximately in 95% in orthopaedic trauma surgery. Hand-drilling leads to problems as getting the big outlets, breaking the tendons or blood vessels, overheating etc. and surgeons have to use X-ray machines. The average error in drilling accuracy beyond far cortex is 6.31 mm! As it is made by hand the subjective behaviour is decisive for the final result quality. The drilling automation can neutralize the subjective factor and avoid the existing problems. The purpose of the work is to present a robot application for vertebra drilling in surgery and to underline its advantages concerning accuracy and safety. 2. METHODS The research method concerning robot application (see Fig.1) for spine column drilling is experimental one. Beef vertebras is used. Labo...

GSTF Journal of Engineering Technology, 2012

ABSTRACT Many orthopedic operations involve drilling and tapping before the insertion of screws i... more ABSTRACT Many orthopedic operations involve drilling and tapping before the insertion of screws into bone. Usually the drilling is executed by hand. It leads to lots of problems. The accuracy of the drilling, braking the blood vessels after the rear hole, overheating, oscillations widening the hole diameter are some of examples for that. To avoid these problems and to reduce the subjective factor the automation of drilling is recommended. In the work the automatic drilling robot is presented as well as experiments for establishment the drilling process technical parameters and its control. The time, linear velocity, angular velocity, resistant force, depth of penetration and temperature are monitored during the drilling process. The robot is user-friendly, i.e. the surgeon can operate easy. The required working task is set simply and the information during the process execution is received in real time. The surgeon has no influence to the process. He must only to take care of keeping a contact with a bone while the robot autonomously executes the drilling and takes a decision to stop. Conclusions are made that the automatic bone drilling assures higher accuracy and patient safety.

Advanced Materials Research, 2013

Bone drilling and cutting manipulations are widespread in the orthopedic surgery. In free hand pe... more Bone drilling and cutting manipulations are widespread in the orthopedic surgery. In free hand performance of them some errors such as an inaccurate penetration and dilate of bone hole, overheating, harm soft tissues could be occurring. The goal of this study is to design and develop control concept for a bone drilling and cutting robotized system. The proposed orthopedic system consists of two executive modules for drilling and cutting and common control panel. The control algorithms and programs for drilling have done and given in the paper. We are developing the control algorithms for cutting manipulation.

Mechanics Based Design of Structures and Machines, 2011

In orthopedic surgery the manipulation “bone drilling” is used very often and it is performed by ... more In orthopedic surgery the manipulation “bone drilling” is used very often and it is performed by hand drilling, which causes a lot of problems—getting the big outlets, breaking the tendons or blood vessels, protecting the rear bone wall (which brings one more cutting of the tissue), ...

International Journal of Pure and Apllied Mathematics, 2013

Background. Many orthopaedic operations involve drilling before the insertion of screws into the ... more Background. Many orthopaedic operations involve drilling before the insertion of screws into the bone. Usually drilling is executed manually, which brings problems. Bone overheating is the most important one. To avoid such problems and reduce the subjective factor, automatic drilling is recom

The International Journal of Medical Robotics and Computer Assisted Surgery, 2013

Background Many orthopaedic operations involve drilling and tapping before the insertion of screw... more Background Many orthopaedic operations involve drilling and tapping before the insertion of screws into a bone. This drilling is usually performed manually, thus introducing many problems. These include attaining a specific drilling accuracy, preventing blood vessels from breaking, and minimizing drill oscillations that would widen the hole. Bone overheating is the most important problem. To avoid such problems and reduce the subjective factor, automated drilling is recommended. Methods Because numerous parameters influence the drilling process, this study examined some experimental methods. These concerned the experimental identification of technical drilling parameters, including the bone resistance force and temperature in the drilling process. During the drilling process, the following parameters were monitored: time, linear velocity, angular velocity, resistance force, penetration depth, and temperature. Results Specific drilling effects were revealed during the experiments. The accuracy was improved at the starting point of the drilling, and the error for the entire process was less than 0.2 mm. The temperature deviations were kept within tolerable limits. The results of various experiments with different drilling velocities, drill bit diameters, and penetration depths are presented in tables, as well as the curves of the resistance force and temperature with respect to time. Real-time digital indications of the progress of the drilling process are shown. Conclusions Automatic bone drilling could entirely solve the problems that usually arise during manual drilling. An experimental setup was designed to identify bone drilling parameters such as the resistance force arising from variable bone density, appropriate mechanical drilling torque, linear speed of the drill, and electromechanical characteristics of the motors, drives, and corresponding controllers. Automatic drilling guarantees greater safety for the patient.

Applied Mechanics and Materials, 2014

This paper deals with an active force control for automatic bone drilling. Orthopedic surgery oft... more This paper deals with an active force control for automatic bone drilling. Orthopedic surgery often requires precise bone drilling for screws to be implanted. The hole quality in drilling process strongly depends on the applied thrust force (resistance force). In particular, a relatively large thrust force, applied in hand-drilling process, could cause a bone trauma (thermo necrosis or bone damage). To solve this problem we apply an active force control in order to achieve constant and safety drilling thrust force. Moreover, we propose an algorithm for parameter tuning of the considered control system.

Advanced Materials Research, 2013

Bone drilling and cutting manipulations are widespread in the orthopedic surgery. In free hand pe... more Bone drilling and cutting manipulations are widespread in the orthopedic surgery. In free hand performance of them some errors such as an inaccurate penetration and dilate of bone hole, overheating, harm soft tissues could be occurring. The goal of this study is to design and develop control concept for a bone drilling and cutting robotized system. The proposed orthopedic system consists of two executive modules for drilling and cutting and common control panel. The control algorithms and programs for drilling have done and given in the paper. We are developing the control algorithms for cutting manipulation.