Design of a hand-held robotized module for bone drilling and cutting in orthopedic surgery

2012 ◽  
Author(s):  
Vladimir Kotev ◽  
George Boiadjiev ◽  
Haruhisa Kawasaki ◽  
Tetsuya Mouri ◽  
Kamen Delchev ◽  
...  
Keyword(s):  
Orthopedic Surgery ◽  
Bone Drilling

Computer Aided Finite Element Simulation of the Developed Driller System for Bone Drilling Process in Orthopedic Surgery

2019 ◽  
Vol 18 (04) ◽  
pp. 583-594 ◽  
Author(s):  
Kadir Gok ◽  
Arif Gok ◽  
Yasin Kisioglu
Keyword(s):  
Finite Element ◽  
Temperature Rise ◽  
Orthopedic Surgery ◽  
Soft Tissues ◽  
Experimental Results ◽  
Drilling Process ◽  
Drill Bit ◽  
Bone Drilling ◽  
Computer Aided ◽  
Driller System

Heat reveals during the bone drilling operations in orthopedic surgery because of friction between bone and surgical drill bit. The heating causes extremely important damages in bone and soft tissues. The heating has a critical threshold and it is known as 47∘C. If bone temperature value exceeds 47∘C, osteonecrosis occurs in bones and soft tissues. Many factors such as surgical drill bit geometry and material, drilling parameters, coolant has important roles for the temperature rise. Many methods are used to decrease the temperature rise. The most effective method among them is to use the coolant internally. Numeric simulations of a new driller system to avoid the overheating during the orthopedic operating processes were performed in this study. The numerical simulation with/without coolant was also performed using the finite element based software. Computer aided simulation studies were used to measure the bone temperatures occurred during the bone drilling processes. The outcomes from the simulations were compared with the experimental results. A good temperature level agreement between the experimental results and FEA simulations was found during the bone drilling process.

Automatic Bone Drilling in Orthopedic Surgery - Overcoming of the Drill Bit Bending at the Second Cortex

2014 ◽  
Vol 664 ◽  
pp. 419-422 ◽  
Author(s):  
George Boiadjiev ◽  
Kamen Delchev ◽  
Tony Boiadjiev ◽  
Kazimir Zagurski ◽  
Rumen Kastelov
Keyword(s):  
Orthopedic Surgery ◽  
Force Control ◽  
Thrust Force ◽  
Screw Fixation ◽  
Drill Bit ◽  
Bone Surface ◽  
Active Force ◽  
Bone Drilling ◽  
Bone Damage ◽  
Specific Shape

This paper discusses a problem appeared by drill bit bending during bone drilling in the orthopedic surgery, where precision is needed for screws to be implanted. The bone surface has a specific shape and the drill bit may slip a little along the bone before the process start, when a large thrust force is applied by hand-drilling. That could be seen and correct by the surgeon. But he can’t see inside – where the second cortex drilling starts. The drill bit bending leads to the worse screw fixation and even to the bone damage – if the drill bit stays off broken inside. To solve this problem an active force control is made by robot application. Experiments and results are presented.

scholarly journals Orthopedic Bone Drilling Robot ODRO: Basic Characteristics and Areas of Applications

2021 ◽  
Author(s):  
Tony Boiadjiev ◽  
George Boiadjiev ◽  
Kamen Delchev ◽  
Ivan Chavdarov ◽  
Roumen Kastelov
Keyword(s):  
Orthopedic Surgery ◽  
Feed Rate ◽  
Bone Fractures ◽  
Experimental Results ◽  
Drilling Process ◽  
Bone Drilling ◽  
Input And Output ◽  
Input Parameters ◽  
Important Input ◽  
Basic Characteristics

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 the literature, some of which are available on the market. The application areas of ODRO in the orthopedic surgery practice are underlined.

scholarly journals Robotized System for Bone Drilling and Cutting in Orthopedic Surgery

2013 ◽  
Vol 740 ◽  
pp. 92-98
Author(s):  
George Boiadjiev ◽  
Vladimir Kotev ◽  
Kazimir Zagurski ◽  
Kamen Delchev ◽  
Tony Boiadjiev ◽  
...  
Keyword(s):  
Orthopedic Surgery ◽  
Soft Tissues ◽  
Control Algorithms ◽  
Control Panel ◽  
Bone Drilling ◽  
Common Control ◽  
Control Concept ◽  
Hand Performance

Bone drilling and cutting manipulations are widespread in the orthopedic surgery. In free hand performance of them some errors such as an inaccurate penetration and dilate of bone hole, overheating, harm soft tissues could be occurring. The goal of this study is to design and develop control concept for a bone drilling and cutting robotized system. The proposed orthopedic system consists of two executive modules for drilling and cutting and common control panel. The control algorithms and programs for drilling have done and given in the paper. We are developing the control algorithms for cutting manipulation.

scholarly journals Experimental Investigations on Microcracks in Vibrational and Conventional Drilling of Cortical Bone

2013 ◽  
Vol 2013 ◽  
pp. 1-5 ◽  
Author(s):  
Yu Wang ◽  
Meng Cao ◽  
Yuanyuan Zhao ◽  
Gang Zhou ◽  
Wenyong Liu ◽  
...  
Keyword(s):  
Orthopedic Surgery ◽  
Testing Machine ◽  
Postoperative Recovery ◽  
Experimental Investigations ◽  
Bone Drilling ◽  
Micro Cracks ◽  
Drill Site ◽  
Drilling Operations ◽  
Material Testing Machine ◽  
Conventional Drilling

Bone drilling is widely used in orthopedic surgery. Microcracks will be generated in bone drilling, which may cause fatigue damages and stress fractures. Fresh bovine cortical bones were drilled via vibrational and conventional ways. Drilling operations were performed by a dynamic material testing machine, which can provide the vibration while maintaining uniform feed motion. The drill site and bone debris were observed through scanning electron microscope (SEM). The experimental results showed that fewer and shorter micro-cracks were formed in vibrational drilling than those formed in conventional way. And the surface morphology of bone debris from two different drilling ways was also quite different. It is expected that vibrational drilling in orthopedic surgery operation could decrease the microdamage to the bone, which could lower the incidence of stress fracture and contribute to the postoperative recovery.

A Design Concept of an Orthopedic Bone Drilling Mechatronics System

2013 ◽  
Vol 302 ◽  
pp. 248-251 ◽  
Author(s):  
Vladimir Kotev ◽  
George Boiadjiev ◽  
Tetsuya Mouri ◽  
Kamen Delchev ◽  
Haruhisa Kawasaki ◽  
...  
Keyword(s):  
Orthopedic Surgery ◽  
Design Concept ◽  
Experimental Results ◽  
Bone Drilling ◽  
Mechatronic System ◽  
Operation Performance ◽  
Successful Execution ◽  
High Level

Bone drilling manipulationstake placevery ofteninthe orthopedic surgery. The successful execution of bone drilling requires a high level of dexterity and experience. The patient’s recovering depends on the operation performance. This paper presents a design concept of a bone drilling hand-hold mechatronic system. It is based on the modified structure of the previous our robot ODRO. It isable to detect the bone breakthrough and the stops. It is intended to perform drilling a preliminary set depth. Resistantforce is measured and experimental results are shown.

Automatic Bone Drilling in Orthopedic Surgery Parameter Tuning of an Active Force Control

2014 ◽  
Vol 532 ◽  
pp. 208-211 ◽  
Author(s):  
Tony Boiadjiev ◽  
Kazimir Zagurski ◽  
George Boiadjiev ◽  
Kamen Delchev ◽  
Rumen Kastelov
Keyword(s):  
Orthopedic Surgery ◽  
Force Control ◽  
Thrust Force ◽  
Parameter Tuning ◽  
Resistance Force ◽  
Drilling Process ◽  
Active Force ◽  
Bone Drilling ◽  
Active Force Control ◽  
Bone Damage

This paper deals with an active force control for automatic bone drilling. Orthopedic surgery often requires precise bone drilling for screws to be implanted. The hole quality in drilling process strongly depends on the applied thrust force (resistance force). In particular, a relatively large thrust force, applied in hand-drilling process, could cause a bone trauma (thermo necrosis or bone damage). To solve this problem we apply an active force control in order to achieve constant and safety drilling thrust force. Moreover, we propose an algorithm for parameter tuning of the considered control system.

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