Automatic Bone Drilling – More Precise, Reliable and Safe Manipulation in the Orthopaedic Surgery

Delchev

et al. 2020

Proc Inst Mech Eng H

Self Cite

The bone drilling process is characterised by various parameters, the most important of which are the feed rate (mm/s) and the drill speed (rpm). They highly reflect the final effects and results of the drilling process, such as mechanical and thermal damages of bone tissue and hole quality. During manual drilling, these parameters are controlled by the surgeon based on his practical skills. But automatic drilling can assure an optimal result of the manipulation where such parameters are under control. During bicortical automatic bone drilling such a process consists of several stages: searching the contact with the first cortex, cortex drilling and automatic stop; searching the contact with the second cortex, cortex drilling and automatic stop; drill bit extraction. This work presents a way to control the feed rate during different stages of the bone drilling process (an original feed rate control algorithm) using the orthopaedic drilling robot (ODRO). The feed rate control is based on a proposed algorithm created and realised by specific software. During bicortical bone drilling process the feed rate takes various values in any stage in the range 0.5–6 mm/s. These values depend on drill bit position and real time force sensor data. The novelty of this work is the synthesis of an original feed rate control algorithm to solve the main problems of bone drilling in orthopaedic surgery – minimisation the drilling time (the heat generation); eliminating of the drill bit slip at the first (near) cortex and the drill bit bending at the second (far) cortex; minimising the risk of micro cracks which causes Traumatic Osteonecrosis; improving hole quality of the drilled holes; eliminating of the drill bit slip and the drill bit bending at the second cortex; minimising the value of the second cortex drill bit penetration by bicortical bone drilling.

Section: Resultsmentioning

confidence: 99%

Feed rate control in robotic bone drilling process

Delchev

et al. 2020

Proc Inst Mech Eng H

Self Cite

“…The experiments were executed using the Orthopaedic bone-Drilling Robot 'ODRO' [13][14][15]. The executive module, its power and control block and structure drawing are shown in Figures 3-5, respectively.…”

Section: Drilling Systemmentioning

confidence: 99%

Automatic bone drilling by femoral head structure detection

Kastelov

Biotechnology & Biotechnological Equipment

et al. 2017

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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.

“…The algorithm for preliminary set depth execution (precision is 0.1 mm) is discussed in details in [9].…”

Section: Robotized System Odro-2mentioning

confidence: 99%

“…The drilling process depends on lots of parameters, but the most important one is the thrust force, applied during the drilling execution [9]. It influences both the precision and the temperature.…”

Section: Introductionmentioning

confidence: 99%

Development of Hand-Held Surgical Robot ODRO-2 for Automatic Bone Drilling

Journal of Theoretical and Applied Mechanics

2017

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This paper represents the development of a prototype robotic system for automatic bone drilling in orthopaedic surgery. A new design of the mechanical structure is proposed, answering the surgical requirements for the robot dimensions and weight to be as small as possible. The new structure design is based on idea of parallelism of the axis of the linear actuator and the axis of the rotary one. The control system is improved by using a new microcontroller. A new type of linear drive and a new force sensor (load cell) are built in, so that the quality characteristics of the "Orthopaedic bone Drilling Robot" (ODRO) are not only the same as previous its two versions, but becomes better.An experimental setup is arranged and experiments are executed to test and to verify the robot quality features and functional capabilities.