scholarly journals Handheld Robot for Bone Drilling Assistance

10.29007/pzrj ◽  
2018 ◽  
Author(s):  
Ping-Lang Yen ◽  
Shuo-Suei Hung
Keyword(s):  
Computer Navigation ◽  
Human Operator ◽  
Navigation Systems ◽  
Bone Drilling ◽  
Drilling Force ◽  
Robot Controller ◽  
Tool Positioning ◽  
Surgical Tool ◽  
Compensation Function ◽  
Velocity Command

Computer navigation systems has provided useful visual guidance for the surgeon to deliberately locate the tools to the anatomy. However, the tool positioning process is still manually performed. Sometimes the tool positioning may cause fatigue, stress and might be of risk to patient too. In this paper we designed a special purpose handheld robot for bone drilling. Meanwhile the coordinated controller assists the surgeon to precisely and safely drill the bone safely. Two force sensors are embedded at the handle and the cutter to measure the human exerted force and bone drilling force, respectively. The velocity command was then computed by the admittance controller for the robot controller. The motion of the control handle is positioned by the surgeon, while the surgical tool driven by the robot end-effector. The coordination between the human operator and the robot was designed so that the bone drilling can be performed more effectively than only imagenavigation scenario. The drill was able to be maintained on the target trajectory with reasonable accuracy within 2 mm although the human operator has deviated the surgical tool up to 5 cm. The compensation function to guide the drill back to the planned path was very useful to prevent the drill’s breakage when penetrating through the holes on the bone plate in bone drilling procedure.

Kinematic Analysis and Optimization of a Novel Robot for Surgical Tool Manipulation

2008 ◽  
Author(s):  
Xiaoli Zhang ◽  
Carl A. Nelson
Keyword(s):  
Inverse Kinematics ◽  
Degrees Of Freedom ◽  
Force Feedback ◽  
Robotic Systems ◽  
Small Space ◽  
Surgical Robots ◽  
Tool Positioning ◽  
Rotation Axes ◽  
Surgical Tool ◽  
Linear Nature

The size and limited dexterity of current surgical robotic systems are factors which limit their usefulness. To improve the level of assimilation of surgical robots in minimally invasive surgery (MIS), a compact, lightweight surgical robotic positioning mechanism with four degrees of freedom (DOF) (three rotational DOF and one translation DOF) is proposed in this paper. This spatial mechanism based on a bevel-gear wrist is remotely driven with three rotation axes intersecting at a remote rotation center (the MIS entry port). Forward and inverse kinematics are derived, and these are used for optimizing the mechanism structure given workspace requirements. By evaluating different spherical geared configurations with various link angles and pitch angles, an optimal design is achieved which performs surgical tool positioning throughout the desired kinematic workspace while occupying a small space bounded by a hemisphere of radius 13.7 cm. This optimized workspace conservatively accounts for collision avoidance between patient and robot or internally between the robot links. This resultant mechanism is highly compact and yet has the dexterity to cover the extended workspace typically required in telesurgery. It can also be used for tool tracking and skills assessment. Due to the linear nature of the gearing relationships, it may also be well suited for implementing force feedback for telesurgery.

scholarly journals The Significance of Computer Modeling and 3D Printing Technology for Facial Ectoprosthetics

2020 ◽  
pp. paper62-1-paper62-10
Author(s):  
Svetlana Cherebylo ◽  
Vyacheslav Vnuk ◽  
Evgeniy Ippolitov ◽  
Mikhail Novikov ◽  
Pavel Mitroshenkov ◽  
...  
Keyword(s):  
3D Printing ◽  
Computer Modeling ◽  
Information Technologies ◽  
Surgical Intervention ◽  
Computer Navigation ◽  
Navigation Systems ◽  
Facial Plastic ◽  
Laser Stereolithography ◽  
Huge Challenge

The integration of information technologies in healthcare practice significantly changes the methods of diagnosis and treatment, the forms of interaction of doctors with patients and colleagues, the organization of treatment and recovery of health. The field of reconstruction of the auricle is still a huge challenge for facial plastic surgeons and requires at various techniques to find the best treatment for each patient. The paper describes the application of computer modeling and laser stereolithography technology in surgical practice for auricular surfaces ectoprosthetics. To improve the accuracy and quality of the surgical intervention the positioning of external prosthesis is applied with the aid of personal templates and computer navigation. The accuracy of ectoprosthesis positioning when using a plastic mask template was 0.3-0.4 mm, while computer navigation was 0.1 - 0.2 mm. Using personalized templates is a simpler and more intuitive way of positioning that does not require expensive computer navigation systems. This example of ectoprosthetics shows the possibilities of various reconstructions of facial organs, not only the ear, but also, for example, the nose, using computer modeling and 3d printing technologies

An American Omega Navigation Evaluation Programme 1975–1977

1977 ◽  
Vol 30 (3) ◽  
pp. 352-358
Author(s):  
P. R. J. Reynolds
Keyword(s):  
Computer Navigation ◽  
Remaining Useful Life ◽  
Navigation Systems ◽  
Evaluation Programme ◽  
Signal Coverage ◽  
Useful Life ◽  
General Object ◽  
Economic Considerations ◽  
Inertial Systems ◽  
Critical Aspects

As a replacement for the Loran A systems installed on approximately fifty B-707/300 aircraft and to have this replacement fully operational by the end of 1977 only two options were available: the very well proven but relatively costly inertial systems and the almost totally unproven but potentially much less costly Omega. Economic considerations played a major role in this choice in view of the limited remaining useful life of the aircraft involved. The general object of the programme was to assess the acceptability of Omega as a pilot-operated substitute for Loran A in aircraft also equipped with dual doppler/computer navigation systems. Critical aspects of the use of Omega which were to be investigated were:(i) the availability of adequate Omega signal coverage on a reasonably worldwide basis,(ii) the normal in-lane accuracy of the Omega position output,(iii) the in-lane stability of the Omega position output, i.e. susceptibility to ‘lane-slip’,(iv) the reliability of the airborne Omega hardware,(v) the operational suitability of the control/display units.

scholarly journals Experimental investigation on the effect of drill quality on the performance of bone drilling

2020 ◽  
Vol 65 (1) ◽  
pp. 113-120 ◽  
Author(s):  
Khurshid Alam ◽  
Sujan Piya ◽  
Ahmed Al-Ghaithi ◽  
Vadim Silberschmidth
Keyword(s):  
Surface Roughness ◽  
Feed Rate ◽  
P Value ◽  
Drilling Process ◽  
Bone Drilling ◽  
Drilling Force ◽  
Grey Relational Grade ◽  
Favorable Conditions ◽  
Grey Relational ◽  
Response Variables

AbstractBone drilling is a well-known process in operative fracture treatment and reconstructive surgery. The cutting ability of the drill is lost when used for multiple times. In this study, the effect of different levels of drill wear on bone temperature, drilling force, torque, delamination around the drilling region and surface roughness of the hole was investigated using a series of experiments. Experimental results demonstrated that the wear of the drill is strongly related to the drilling force, torque, temperature and surface roughness of the drilled hole. Statistical analysis was performed to find the effect of various factors on multiple response variables in the bone drilling process. The favorable conditions for bone drilling are obtained when feed rate, drill speed and the roughness of the cutting edge of the drill were fixed at 30 mm, 2000 rpm and up to 2 mm, respectively. Further, analysis of variance (ANOVA) was performed to determine the factor with a significant impact on the response variables. F-test and p-value indicated that the feed rate had the highest effect on grey relational grade followed by the roughness of the drill. This study suggests that the sharp drill along with controlled drilling speed and feed rate may be used for safe and efficient surgical drilling in bone.

Engineering and Environmental Technoethics

2010 ◽  
pp. 146-162
Author(s):  
Luppicini Rocci
Keyword(s):  
Computer Navigation ◽  
Engineering Ethics ◽  
Computer Networking ◽  
Navigation Systems ◽  
Ethical Challenges ◽  
The Public ◽  
Nuclear Explosions ◽  
Ethical Implications ◽  
The 1950S ◽  
Public Reaction

This chapter traces the development of Engineering Ethics, Computer Ethics, and Environmental Technoethics. It also covers the topic of military technoethics as an important new development that deserves special attention. The story begins in the late 19th century with the development of various engineering professional bodies to ensure that engineers were responsible for potentially harmful constructions. This in turn, gave rise to the creation of codes of engineering ethics to help guide professional conduct. As the public demand for engineering increased throughout the 20th century, so did the ethical implications and demand for codes of engineering ethics. In the 1950s and 1960s, the continued expansion of industrial growth lead also to a number of human caused environmental disasters ranging from oil spills to nuclear explosions to the release of toxic chemicals into the air and water supply. This brought on a public reaction among environmental organizations and increased public attention to ethical implications of technology and the environment. These developments helped nurture in studies in environmental technoethics and the ethical concern over human involvement in technology related environmental change. Also in the 1950s and 1960s, the public use of mainframe computers, promising outlook for computer networking, and scholarly interest in systems research raised additional interest concerning the ethical implications connected to computer innovation in society. This chapter provides a review of background developments, challenges, and current directions in each of these areas. It uses examples to illustrate the potency of technology in reference to key areas (i.e., access equity, software design, computer navigation systems, construction, mining, and other areas of technology use and misuse). It concludes with insider interviews from leading experts working in the field and recommendations on how to use technoethical inquiry to leverage the ethical use of science and technology in areas where technological innovation has created ethical challenges and dilemmas.

scholarly journals Drilling of bone: A robust automatic method for the detection of drill bit break-through

1998 ◽  
Vol 212 (3) ◽  
pp. 209-221 ◽  
Author(s):  
F R Ong ◽  
K Bouazza-Marouf
Keyword(s):  
Kalman Filter ◽  
Rotational Speed ◽  
Detection Method ◽  
Drill Bit ◽  
Bone Drilling ◽  
Drilling Force ◽  
Robust Detection ◽  
Modified Kalman Filter ◽  
Drilling System ◽  
Force Difference

The aim of this investigation is to devise a robust detection method for drill bit breakthrough when drilling into long bones using an automated drilling system that is associated with mechatronic assisted surgery. This investigation looks into the effects of system compliance and inherent drilling force fluctuation on the profiles of drilling force, drilling force difference between successive samples and drill bit rotational speed. It is shown that these effects have significant influences on the bone drilling related profiles and thus on the detection of drill bit break-through. A robust method, based on a Kalman filter, has been proposed. Using a modified Kalman filter, it is possible to convert the profiles of drilling force difference between successive samples and/or the drill bit rotational speed into easily recognizable and more consistent profiles, allowing a robust and repeatable detection of drill bit break-through.

Current concepts and applications of computer navigation in orthopedic trauma surgery

Open Medicine ◽  
2007 ◽  
Vol 2 (4) ◽  
pp. 392-403 ◽  
Author(s):  
D. Kendoff ◽  
M. Citak ◽  
T. Hüfner ◽  
S. Chaudhary ◽  
C. Krettek
Keyword(s):  
Trauma Surgery ◽  
Three Dimensional ◽  
Computer Navigation ◽  
Femoral Anteversion ◽  
Navigation Systems ◽  
Orthopedic Trauma ◽  
Camera System ◽  
Recent Developments ◽  
Orthopedic Trauma Surgery ◽  
Positive Results

AbstractNavigation has become widely integrated into regular endoprosthetic procedures, but clinical use of navigation systems in orthopaedic trauma has only been implemented in a few indications. Navigation systems enable an accuracy of 1 mm or 1 degree. Navigation can achieve higher precision when it is combined with different imaging modalities, including preoperative computer tomography (CT), intraoperative CT, two-dimensional fluoroscopy, and, recently, intraoperative three-dimensional fluoroscopy. The precision of the navigation system can be influenced by the surgeon as well as by the camera system, type of reference marker, and the registration process. Recent developments in orthopedic trauma navigation allow for bilateral femoral anteversion measurements, noninvasive registration of an uninjured thigh, and intraoperative three-dimensional fluoroscopy-based pedicle screw placement. Although the use of navigation has provided initial positive results in trauma care, prospective clinical studies remain to be performed.

scholarly journals A Theoretical Analysis on Bone Drilling Temperature Field of Superhard Drill

2016 ◽  
Vol 10 (1) ◽  
pp. 109-125 ◽  
Author(s):  
Yali Hou ◽  
Changhe Li ◽  
Hongliang Ma ◽  
Yanbin Zhang ◽  
Min Yang ◽  
...  
Keyword(s):  
Temperature Field ◽  
Twist Drill ◽  
Superhard Materials ◽  
Bone Drilling ◽  
Drilling Force ◽  
Cooling Method ◽  
Drilling Temperature ◽  
Geometrical Shapes ◽  
Maximum Temperatures ◽  
Step Drill

To overcome strong drilling force and over high temperature during orthopedic surgery, the four medical drills with different geometrical shapes by using superhard materials were designed. The bone drilling temperature field of superhard drill was theoretical analyzed. Results showed that brazed step drill has the most ideal drilling temperature. It controls the maximum bone temperature below 47°C even under dry drilling. The maximum bone temperature of brazed twist drill is a little higher than 47°C. With appropriate cooling method, brazed twist drill also could provide ideal effect. On the contrary, drilling temperatures of common twist drill, brazed abrasive drill and brazed PCBN superhard drill increase successively. All of them are far higher than the critical temperature of osteonecrosis. The maximum temperatures of brazed step drill, brazed twist drill, common twist drill, brazed abrasive drill and brazed PCBN superhard drill under steady state at about 45.9°C, 61.5°C, 70.5°C, 101.2°C and 113.2°C, respectively. Brazed step drill shows the lowest drilling temperature, followed by brazed twist drill, standard twist drill, brazed abrasive drill and brazed PCBN superhard drill successively.

scholarly journals Accuracy assessment of target tracking using two 5-degrees-of-freedom wireless transponders

2019 ◽  
Vol 15 (2) ◽  
pp. 369-377
Author(s):  
Roeland Eppenga ◽  
Koert Kuhlmann ◽  
Theo Ruers ◽  
Jasper Nijkamp
Keyword(s):  
Degrees Of Freedom ◽  
Surgical Navigation ◽  
Tracking System ◽  
Optical Tracking ◽  
Navigation Systems ◽  
Optical Tracking System ◽  
Worst Case ◽  
Tumor Tracking ◽  
Surgical Tool ◽  
Vector Information

Abstract Purpose Surgical navigation systems are generally only applied for targets in rigid areas. For non-rigid areas, real-time tumor tracking can be included to compensate for anatomical changes. The only clinically cleared system using a wireless electromagnetic tracking technique is the Calypso® System (Varian Medical Systems Inc., USA), designed for radiotherapy. It is limited to tracking maximally three wireless 5-degrees-of-freedom (DOF) transponders, all used for tumor tracking. For surgical navigation, a surgical tool has to be tracked as well. In this study, we evaluated whether accurate 6DOF tumor tracking is possible using only two 5DOF transponders, leaving one transponder to track a tool. Methods Two methods were defined to derive 6DOF information out of two 5DOF transponders. The first method uses the vector information of both transponders (TTV), and the second method combines the vector information of one transponder with the distance vector between the transponders (OTV). The accuracy of tracking a rotating object was assessed for each method mimicking clinically relevant and worst-case configurations. Accuracy was compared to using all three transponders to derive 6DOF (Default method). An optical tracking system was used as a reference for accuracy. Results The TTV method performed best and was as accurate as the Default method for almost all transponder configurations (median errors < 0.5°, 95% confidence interval < 3°). Only when the angle between the transponders was less than 2°, the TTV method was inaccurate and the OTV method may be preferred. The accuracy of both methods was independent of the angle of rotation, and only the OTV method was sensitive to the plane of rotation. Conclusion These results indicate that accurate 6DOF tumor tracking is possible using only two 5DOF transponders. This encourages further development of a wireless EM surgical navigation approach using a readily available clinical system.

Mechanical and thermal damage in cortical bone drilling in vivo

2019 ◽  
Vol 233 (6) ◽  
pp. 621-635 ◽  
Author(s):  
Yue Zhang ◽  
Linlin Xu ◽  
Chengyong Wang ◽  
Zhihua Chen ◽  
Shuai Han ◽  
...  
Keyword(s):  
Thermal Damage ◽  
Bone Matrix ◽  
Haversian Canal ◽  
Drill Bit ◽  
Bone Drilling ◽  
Drilling Force ◽  
Drilling Parameters ◽  
Bone Damage ◽  
Empty Lacuna

Recently, the failure rate of fracture fixation to fractured bone has increased. Mechanical and thermal damage to the bone, which influences the contact area and cell growth between the bone and the screw, is the primary reason for fixation failure. However, research has mainly focused on force and temperature in bone drilling. In this study, the characteristics of hole edges, microcracks, empty lacunae, and osteon necrosis were investigated as viewed in the transverse and longitudinal sections after drilling. Drilling force and temperature were also recorded for comparing the relationship with mechanical and thermal damage. Experiments were conducted in vivo using five different drill geometries under the same drilling parameters. Characteristics of the hole wall were detected using computed tomography. Microcracks and necrosis were analyzed using the pathological sectioning method. The maximum microcrack was approximately 3000 and 1400 μm in the transverse section and longitudinal section, respectively, which were much larger than those observed in previous studies. Empty lacuna and osteon necrosis, starting from the Haversian canal, were also found. The drill bit geometry, chisel edge, flute number, edges, and steps had a strong effect on bone damage, particularly the chisel edge. The standard and classic surgical drill caused the greatest surface damage and necrosis of the five drill bit geometries studied. The microstructural features including osteons and matrix played an important role in numbers and length of microcracks and necrosis. More microcracks were generated in the transverse direction, while a greater length of the empty lacuna was generated in the longitudinal direction under the same drilling parameters. Microcracks mainly propagated in a straight manner in and parallel to the interstitial bone matrix and cement line. Drilling forces were not directly correlated with bone damage; thus, hole performance should be considered to evaluate the superiority and inferiority of drill bits rather than the drill force alone.

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