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

Boiadjiev, George

doi:10.1515/jtam-2017-0017

Cited by 6 publications

(2 citation statements)

References 16 publications

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“…200ms corresponds to the 0.2 mm drilling path with a drilling feed rate of 1mm/second (60mm/minutes) which is one of the nominal feed rate for bone drilling [33]. The 0.2 mm drilling path length can be regarded as a breakthrough error whose acceptable range lies within 1-2mm [34] to avoid damaging vital organs when drilling cortical bone.…”

Section: Resultsmentioning

confidence: 99%

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

Torun

2022

Türk Doğa Ve Fen Dergisi

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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.

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Section: Resultsmentioning

confidence: 99%

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

Torun

2022

Türk Doğa Ve Fen Dergisi

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“…The proposed robotic system withstood an average drilling error was less than 1.2 mm. Boiadjiev et al 22 proposes a prototype robotic system for automatic bone drilling in orthopedic surgery of new structure design based on parallelism of the axis of the linear actuator and the axis of the rotary one. An experimental setup shows it is performed with 0.1 mm accuracy.…”

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confidence: 99%

Six degrees of freedom positioning compensation method of robotic arm-assisted medical bone drilling

Yu,

Wei,

Miao’an

et al. 2023

Proceedings of the Institution of Mechanical Engineers, Part C:

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The positioning accuracy of medical bone drilling has a great impact on the success rate of orthopedic surgery. Due to the need for high accuracy of medical bone drilling, with use of any 6-DoF-type robotic arm to assist in drilling, a novel six-degree-of-freedom compensation positioning algorithm of robotic arm-assisted medical bone drilling is proposed, in which only position but also orientation errors of robotic end are considered, increasing positioning capability of drilling instrument end effector with position and orientation correction for medical drilling motion accurate controlling. For the different position and orientation characteristics of the robot arm controlling and measurement point/zone, position and orientation transformation from measurement to controlling point/zone is established through position and angle calibration experiments, realizing position and orientation error measured by optical tracking system from measurement point/zone to controlling point/zone. Based on 6-DoF parameter and principle of robotic arm, a positioning compensation model based on the 6-DoF position and orientation errors of robotic arm end is proposed, and iteration cycle is used for higher accuracy, realizing double correction of position and orientation of robotic arm end. The accuracy verification experiments measured by the optical tracking system shows that the average position error before and after the 6-DoF compensation positioning algorithm reduces from 1.42 mm (before compensation with DH-based inverse kinematic model) to 0.20 mm (after compensation model) and the average angle error from 0.470° to 0.046°. A bovine spine drilling experiment is carried out based on the 6-DoF compensation algorithm, and the average position error of the hole in the specific direction measured by the contour projector is 0.221 mm, achieving high positioning accuracy of bone drilling, demonstrating reliability and practical application value of medical bone drilling with the compensation of positioning algorithm.

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

Torun

Öztürk

2020

Ann Biomed Eng

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

Cited by 6 publications

References 16 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

Six degrees of freedom positioning compensation method of robotic arm-assisted medical bone drilling

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

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