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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.
A novel self-centring drill bit design for low-trauma bone drilling
International Journal of Machine Tools and Manufacture, 2020
Drilling is one of the most common procedures in orthopaedic surgery. However, drilling-induced trauma occurs frequently and affects the processing damage and position accuracy of the holes, which strongly influence the postoperative recovery. Therefore, there is an urgent need to design a dedicated drill bit that can satisfy low-trauma requirements such as low cutting force, low temperature, self-centring, and low surface damage during orthopaedic surgery. In this work, a novel three-step drill structure is proposed to modify the cutting conditions at the entrance and exit of drilling, to effectively reduce the mechanical and thermal damages and improve the position accuracy in bone drilling. As the first step drill, a unique tip with thinned web was adopted by considering the drill skidding mechanisms under a non-perpendicular drilling condition. The second step was achieved by using an optimal point angle for balancing the effects of the cutting force and temperature. Moreover, a transition arc design was proposed as the third step to adjust the point angle during the finishing stage for switching the cutting mechanism from 'fracture & shear crack' cutting to 'shear' cutting in association with a certain range of feeding rates. This could reduce the mechanical and thermal damages to the finished hole surface. Drilling experiments under various process conditions demonstrated that the proposed drill design significantly reduced the drilling force, temperature, and damage and also improved the position accuracy of the holes compared to the conventional drill design. The proposed design provides an effective tool to achieve low-trauma bone drilling in orthopaedic surgery.
Robot application in orthopedic surgery: drilling control
GSTF Journal of Engineering Technology, 2012
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.
Proceedings of the Institution of Mechanical Engineers. Part H, Journal of engineering in medicine, 2018
This article presents the construction of a flexible drill which is designed to cut a curved canal in the bone or remove bone materials, to improve the outcome of orthopedic surgery and to facilitate minimally invasive. This article reports the design of the flexible drill and uses it in an experimental rig to evaluate the drilling force generated when cutting bovine bone. The experiments facilitate the measurement of action forces between the mill bits when moving the tip toward or across a bone sample in various configurations caused by bending the flexible drill sheath to enable cutting of a curved path of variable radius in the bone. The reaction force represents the force trying to deflect the mill bit tip away from the bone sample surface and must be resisted in order to continue cutting without deflection or buckling of the tip during the drilling of curved pathways. The experiment shows the flexible drill can cut bones in both configurations and experienced a maximal force o...
Bone Drilling Methodology and Tool Based on Position Measurements
Computer Methods and Programs in Biomedicine, 2013
Bone drilling, despite being a very common procedure in hospitals around the world, becomes very challenging when performed close to organs such as the cochlea or when depth control is critical for avoiding damage to surrounding tissue. To date, several mechatronic prototypes have been proposed to assist surgeons by automatically detecting bone layer transitions and breakthroughs. However, none of them is currently accurate enough to be part of the surgeon's standard equipment. The present paper shows a test bench specially designed to evaluate prior methodologies and analyse their drawbacks. Afterward, a new layer detection methodology with improved performance is described and tested. Finally, the prototype of a portable mechatronic bone drill that takes advantage of the proposed detection algorithm is presented.
Orthopedic Bone Drilling Robot ODRO: Basic Characteristics and Areas of Applications
Latest Developments in Medical Robotics Systems, 2021
The orthopedic manipulation “bone drilling” is the most executed one in the orthopedic surgery concerning the operative treatment of bone fractures. The drilling process is characterized by a number of input and output parameters. The most important input parameters are the feed rate [mm/s] and the drill speed [rpm]. They play significant role for the final result (the output parameters): thermal and mechanical damages of the bone tissue as well as hole quality. During the manual drilling these parameters are controlled by the surgeon on the base of his practical skills. But the optimal results of the manipulations can be assured only when the input parameters are under control during an automatic execution of the drilling process. This work presents the functional characteristics of the handheld robotized system ODRO (Orthopedic Drilling Robot) for automatic bone drilling. Some experimental results are also shown. A comparison is made between the similar systems which are known in ...
Quantitative Analysis of Force and Torque in Bone Drilling
The Journal of Engineering Research [TJER]
Bone drilling is an important and the most frequent operation in orthopaedics and other bone surgical procedures. Prediction and control of drilling force and torque are critical to safe and efficient surgeries. This paper studies the drilling force and torque arising from bone drilling process. Drilling parameters such as drilling speed, feed rate, drill size and drill condition (sharp and worn) were changed to measure the force and torque in the direction of the drill penetration. Experimental results demonstrated lower drilling force using a sharp drill compared to a worn drill for similar drilling conditions. Contrary to the drilling force, lower torque was measured using a worn drill compared to a sharp drill. The drilling force was found to decrease with increase in drill speed and increased with rise in the feed rate using both types of drills. A linear drop in drilling torque was measured with increase in drilling speed. This study provided scientific information to orthopae...