Bone Drilling Methodology and Tool Based on Position Measurements (original) (raw)
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Real-time Algorithm for Detection of Breakthrough Bone Drilling
Procedia Engineering, 2012
The purpose of this study is to develop a force control algorithm that detects breakthrough of drill bit during bone drilling process, where the drilling process will halt and return to a safe position once the algorithm is triggered. Orthopaedic surgery in traditional practices does not equipped with any means of detection method to detect the breakthrough in drilling process. It mostly depends on the surgeon's experience and skills when conducted the operation. The algorithm is built using Simulink model under Matlab software and implemented on WinCon software to run under real-time process. The breakthrough algorithm detects the differences of sharp drop force in z-direction and calibrates the force in tri-axial direction as the threshold value. The system is verified through an experiment drilling cow femur bone using 5 DoF CRS Catalyst-5 robots. Preliminary drilling test is conducted to observe the sharp drop in the force value which is to be the threshold force. This will help to increase the safety enhancement during drilling process cause by drill bit breakage, unnecessary drill bit breakthrough, excessive heat generation, and mechanical damage to the bones caused by uncontrolled and large forces.
A robotic bone drilling methodology based on position measurements
2012 4th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 2012
Over the past decades many studies have dealt with the development of robotic tools to improve the process of bone drilling. The main difficulty of the operation resides in the ability to detect bone layer transitions and/or protrusions during the procedure so that damage to surrounding tissue is minimized. The present paper set up a test bench in order to study some of the most relevant drilling methodologies in the literature. The study illustrates some of the drawbacks, and it proposes a new drilling methodology that provides improved results.
A Test Bed Model of an Advanced Handheld Bone Drilling System
Proceedings of the 10th International Joint Conference on Biomedical Engineering Systems and Technologies, 2017
Modern medical drilling systems utilized in bone and joint surgery are characterized with relatively low level of automation, i.e., with no process monitoring and/or adaptive control characteristics, which could potentially prevent mechanical and thermal bone damages. The quality of the drilling process depends solely on the operator skills and tool characteristics. Therefore, a group of research activities have been focused to the development of an advanced next generation hand-held drilling machine. It should provide mechanical and thermal monitoring capabilities of the tool and bone, automated tool feed movement with potential implementation of high-speed drilling regimes, as well as the application of an advanced adaptive control algorithms for cutting forces and drilling temperature limitation. The system would reduce human influence in drill guidance by allowing operator to define drilling location and desired tool direction/angle, while all other activities would be performed autonomously by the machine monitoring and control system. The test bed platform of such system which will be used in the final prototype shaping is presented in this paper.
Design and performance study of an orthopaedic surgery robotized module for automatic bone drilling
The International Journal of Medical Robotics and Computer Assisted Surgery, 2013
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.
2009 2nd International Symposium on Applied Sciences in Biomedical and Communication Technologies, 2009
This paper presents a method to identify the bone regions encountered during a temporal bone dissection. This should aid the otolaryngologist in the identification of anatomical landmarks whilst training and performing surgical procedures. The approach adopts the mel frequency cepstrum coefficients and the Mahalanobis distance metric to indentify the temporal bone regions from the acoustic signature of the surgical drill. Audio data from a mastoidectomy, that involved the dissection of the sigmoid sinus, thin tegmen and thick tegmen bone regions with diamond and cutting type burrs of sizes 6mm, 3mm and 1mm were analysed. An identification accuracy of 97.72 ± 1.77 % was achieved with the mel frequency cepstrum approach. This is a significant improvement over the previous approach that utilises the power spectral density and the correlation coefficient to identify the same bone regions only 90.59 ± 1.58 % of the time. Three case studies were considered as a feasibility study for the implementation of this method into a smart embedded drill environment. With a priori knowledge of the burr type, an identification accuracy of 96.54 ± 4.12 % was achieved. When the burr type was not considered this accuracy decreased to 94.2 ± 3.17 %. An accuracy of 90.88 ± 7.53 % was obtained when identifying both the tool type and the bone region from the drill sound.
Control and breakthrough detection of a three-axis robotic bone drilling system
Mechatronics, 2006
This paper describes a robotic bone drilling system for applications in orthopedic surgery. The goal is to realize a three-axis robotic drilling system which can automatically stop drilling at the moment a drill breaks through bone. The proposed robotic bone drilling system consists of an inner loop fuzzy controller for robot position control, and an outer loop PD controller for feed unit force control. Moreover, breakthrough detection is a function of thrust force threshold information and trends in drill torque and feed rate. The proposed technique has been verified by drilling pig bones, the results for both the bone drilling and bone breakthrough processes are in accord with theoretical model.
Automatic bone drilling using a novel robot in orthopedic trauma surgery
Journal of Biomedical Engineering and Informatics, 2017
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...
Automatic bone drilling by femoral head structure detection
Biotechnology & Biotechnological Equipment, 2017
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.