Detection of Bone Excretion with Current Sensor in Robotic Surgery

Torun, Yunis; Öztürk, Ahmet; Hatipoglu, Nursu; Öztemür, Zekeriya

doi:10.1109/ubmk.2018.8566443

Cited by 2 publications

(3 citation statements)

References 0 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Friction varies according to drill bit geometry, drill speed, and the hardness of drilled tissue as mentioned in [32,33]. In this work, it has been tried to form a synthetic friction coefficient waveform for the bicortical drilling path with knowledge of recent literature [4,6,31] which focuses on the changes in the dynamic of the drilling for bicortical bone. Drill bit contacts with the first cortical layer at zero instant.…”

Section: Resultsmentioning

confidence: 99%

“…One of the risks in the usage of surgical drills is the potential of the drill bit to damage nerve, vessel and muscle tissues during the drilling process [4,5]. The rapidly rotating drill wraps around the surrounding tissues uncontrollably or the drill bit's inability to stop its movement immediately after exiting the second cortex of the bone is the reason for the potential of surgical drills to damage the tissues [4,6,7]. Breakthrough detection can be defined as the detection of the thrust force when the drill bit exits the second cortex [4,8].…”

Section: Introductionmentioning

confidence: 99%

See 1 more Smart Citation

Ortopedik Matkaplar İçin Bozucu Gözlemci Tabanlı Kemik Doku Değişim Tahmin Yaklaşımı Benzetimi

Torun

2022

Türk Doğa Ve Fen Dergisi

Self Cite

View full text Add to dashboard Cite

Orthopedic drills are currently used for various operations in surgical fields such as orthopedics, ear, nose, and throat surgery. The path that orthopedic drills travel through the tissue is controlled manually by surgeons, and manual control leads to the risk of damaging areas such as nerves and tissues. In our study, an innovative approach is presented against existing drill designs and breakthrough detection problems. In the proposed model, the change in the load torque and the change in friction force caused by the tissue change in the drilling path are considered as a disturbance effect, and a disturbance observer has been developed that allows these disturbances to be observed. Observation of the disturbance effects allows the perception of the hardness of tissue change during drilling since it gives the change of load torque changes and friction coefficient, which cannot be measured under normal operation. The performance of the proposed approach has been proven by simulation study.

show abstract

Section: Resultsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Ortopedik Matkaplar İçin Bozucu Gözlemci Tabanlı Kemik Doku Değişim Tahmin Yaklaşımı Benzetimi

Torun

2022

Türk Doğa Ve Fen Dergisi

Self Cite

View full text Add to dashboard Cite

show abstract

“…Bone drilling operations are widely used in the treatment of fractured bones in orthopedic surgery [1][2][3]. Since it is not possible to intervene with broken plaster for the treatment of broken or shattered bones, screw holes are drilled through surgical drills to fix the nails placed in the bone and treat bone fracture [4].…”

Section: Introductionmentioning

confidence: 99%

Power analysis of robotic medical drill with different control approaches

Torun

Malatyali

2020

Cumhuriyet Science Journal

Self Cite

View full text Add to dashboard Cite

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.

show abstract

Detection of Bone Excretion with Current Sensor in Robotic Surgery

Cited by 2 publications

References 0 publications

Ortopedik Matkaplar İçin Bozucu Gözlemci Tabanlı Kemik Doku Değişim Tahmin Yaklaşımı Benzetimi

Ortopedik Matkaplar İçin Bozucu Gözlemci Tabanlı Kemik Doku Değişim Tahmin Yaklaşımı Benzetimi

Power analysis of robotic medical drill with different control approaches

Contact Info

Product

Resources

About