A New Breakthrough Detection Method for Bone Drilling in Robotic Orthopedic Surgery with Closed-Loop Control Approach

Torun, Yunis; Öztürk, Ahmet

doi:10.1007/s10439-019-02444-5

Cited by 35 publications

(28 citation statements)

References 27 publications

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“…The mechanical damage in bone drilling (drill bit breakage, 22 jam, 165 and breakthrough 9,185 ) is a common problem in many surgical disciplines. For example, drill breakage-due to the excessive force, torque, and bending moment 29 -is the most common failure than other surgical instruments in orthopedics.…”

Section: Mechanical Damage In Bone Drillingmentioning

confidence: 99%

Surgical Drill Bit Design and Thermomechanical Damage in Bone Drilling: A Review

Akhbar

Sulong

2020

Ann Biomed Eng

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As drilling generates substantial bone thermomechanical damage due to inappropriate cutting tool selection, researchers have proposed various approaches to mitigate this problem. Among these, improving the drill bit design is one of the most feasible and economical solutions. The theory and applications in drill design have been progressing, and research has been published in various fields. However, pieces of information on drill design are dispersed, and no comprehensive review paper focusing on this topic. Systemizing this information is crucial and, therefore, the impetus of this review. Here, we review not only the state-of-the-art in drill bit designs-advances in surgical drill bit design-but also the influences of each drill bit geometries on bone damage. Also, this work provides future directions for this topic and guidelines for designing an improved surgical drill bit. The information in this paper would be useful as a onestop document for clinicians, engineers, and researchers who require information related to the tool design in bone drilling surgery.

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Section: Mechanical Damage In Bone Drillingmentioning

confidence: 99%

Surgical Drill Bit Design and Thermomechanical Damage in Bone Drilling: A Review

Akhbar

Sulong

2020

Ann Biomed Eng

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“…The bone structure, which is fixed and treated with nails and screws, generally consists of 3 basic bone layers in orthopedic surgery [8]. These bone layers consist of the first cortical bone, spongy bone and the second cortical bone layer [9], [10].…”

Section: Bone Layers and Drilling Pathmentioning

confidence: 99%

“…This risk may not only shorten device life but also compromise patient health during surgery. In orthopedic surgery, bones that are pierced and fixed with nails and screws in bone drilling operations consist of three basic bone layers [8]. These layers are the first cortical bone in which the perforation starts, the spongy bone and the second cortical bone layer in which the perforation is terminated [9,10].…”

Section: Introductionmentioning

confidence: 99%

Power analysis of robotic medical drill with different control approaches

Torun

Malatyali

2020

Cumhuriyet Science Journal

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Increasing the efficiency of the systems used in surgical operations has become an important issue. Especially in orthopedic surgery, many surgical systems and instruments are used to reduce the workload of surgeons and increase the success of the operation. Surgical drills, which are one of these systems used in orthopedic surgery, are used in operations such as drilling, cutting and carving in various interventions. Cases such as drill sensitivity and stability are critical to operational success and patient health. In this study, an orthopedic drill design that can be added to a linear motion module or a 6-axis robot manipulator has been realized. Linear Quadratic Regulator (LQR), which is one of the optimal controller methods, Proportional Integral (PI) Controller, which is one of the classical controller methods and Model Predictive Controller (MPC) systems from modern controller systems are designed to perform speed control task of the surgical drill. A drill integrated into the robot manipulator for a constant drilling speed of 120 rad/sec and a robot manipulator were used to provide constant feed rate (1 mm/s) and to drill holes at constant intervals during the drilling experiments. Power analysis is performed in real-time in bone drilling operations for three controllers. Current, and voltage information during drilling are recorded simultaneously in the experimental setup. In particular, it has been observed that the power signal and the force information of the bone in different layers are proportional.

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“…DC (direct current) motor is used in many applications and nearly most mechanical movement that can be observed around us. As it is found in several domestic appliances such as HD cameras, smart toys, mixing machines, and in advanced orthopedic bone drilling [47][48][49][50][51]. Recently, the analysis of the non-linear characteristic of an electric DC motor has become an emerging research topic.…”

Section: Introductionmentioning

confidence: 99%

Period-doubling bifurcation analysis and chaos control for load torque using FLC

Moustafa

Sobaih

Abozalam

et al. 2021

Complex Intell. Syst.

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Chaotic phenomena are observed in several practical and scientific fields; however, the chaos is harmful to systems as they can lead them to be unstable. Consequently, the purpose of this study is to analyze the bifurcation of permanent magnet direct current (PMDC) motor and develop a controller that can suppress chaotic behavior resulted from parameter variation such as the loading effect. The nonlinear behaviors of PMDC motors were investigated by time-domain waveform, phase portrait, and Floquet theory. By varying the load torque, a period-doubling bifurcation appeared which in turn led to chaotic behavior in the system. So, a fuzzy logic controller and developing the Floquet theory techniques are applied to eliminate the bifurcation and the chaos effects. The controller is used to enhance the performance of the system by getting a faster response without overshoot or oscillation, moreover, tends to reduce the steady-state error while maintaining its stability. The simulation results emphasize that fuzzy control provides better performance than that obtained from the other controller.

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A New Breakthrough Detection Method for Bone Drilling in Robotic Orthopedic Surgery with Closed-Loop Control Approach

Cited by 35 publications

References 27 publications

Surgical Drill Bit Design and Thermomechanical Damage in Bone Drilling: A Review

Surgical Drill Bit Design and Thermomechanical Damage in Bone Drilling: A Review

Power analysis of robotic medical drill with different control approaches

Period-doubling bifurcation analysis and chaos control for load torque using FLC

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