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.

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.

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.

Eliminating of Far Pedicle Cortex Perforation by Automatic Spine Drilling

2015 ◽  
Vol 799-800 ◽  
pp. 505-508 ◽  
Author(s):  
Tony Boiadjiev ◽  
George Boiadjiev ◽  
Kamen Delchev ◽  
Rumen Kastelov ◽  
Kazimir Zagurski
Keyword(s):  
Orthopedic Surgery ◽  
Experimental Results ◽  
Bone Drilling ◽  
New Algorithms

The need of the most precise manipulations in the orthopedic surgery concerns spine. The drilling takes place very often there. If spine cortices are broken by mistake then fatal problems appear as paralysis, block of breathing and death. Therefore in operation as pedicle drilling the far cortex perforation must be avoided. This paper shows that it can be done by bone drilling hand-hold robot ODRO. It is able to detect the bone far cortex and stops just before contact registration. Experimental results are presented. Also the results based on new algorithms and software are presented and discussed.

Experimental Study on Drilling Force during Mandible Drilling Process

2012 ◽  
Vol 723 ◽  
pp. 460-465 ◽  
Author(s):  
Ying Ying Wei ◽  
Xiao Hu Zheng ◽  
De Dong Yu ◽  
Da Peng Dong ◽  
Ming Chen
Keyword(s):  
Bone Density ◽  
Cutting Parameters ◽  
Drilling Process ◽  
Feed Speed ◽  
Bone Drilling ◽  
Drilling Force ◽  
Successful Execution ◽  
High Level ◽  
Drill Force ◽  
Drilling Resistance

Drilling procedure is widely used in orthopedic surgery to insert the steel nail to stabilize the bone. However, successful execution of bone drilling requires a high level of dexterity and experience, because the drilling resistance is large and sometimes vibrates violently to even break the slender drill. This paper introduces the study of drill force in different cutting parameters and different bone density. The density of cortical bone is higher than that of cancellous bone, so the drilling force decreases suddenly from the peak and then maintains a stable value. Drilling forces are more related with feed speeds and bone density. Drilling force increases as feed speed increases and bone density increases. Accurate drilling process can be obtained to provide effective surgery training and rehearsal.

scholarly journals Multi-Sensor Fusion for Aerial Robots in Industrial GNSS-Denied Environments

2021 ◽  
Vol 11 (9) ◽  
pp. 3921
Author(s):  
Paloma Carrasco ◽  
Francisco Cuesta ◽  
Rafael Caballero ◽  
Francisco J. Perez-Grau ◽  
Antidio Viguria
Keyword(s):  
Sensor Fusion ◽  
Computational Efficiency ◽  
Probabilistic Approach ◽  
Laser Scanner ◽  
Industrial Applications ◽  
Experimental Results ◽  
Added Value ◽  
Aerial Robots ◽  
3D Localization ◽  
High Level

The use of unmanned aerial robots has increased exponentially in recent years, and the relevance of industrial applications in environments with degraded satellite signals is rising. This article presents a solution for the 3D localization of aerial robots in such environments. In order to truly use these versatile platforms for added-value cases in these scenarios, a high level of reliability is required. Hence, the proposed solution is based on a probabilistic approach that makes use of a 3D laser scanner, radio sensors, a previously built map of the environment and input odometry, to obtain pose estimations that are computed onboard the aerial platform. Experimental results show the feasibility of the approach in terms of accuracy, robustness and computational efficiency.

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

scholarly journals A Walking Training System with Customizable Trajectory Designing

2014 ◽  
Vol 5 (1) ◽  
Author(s):  
Shiyang Dong ◽  
Takafumi Matsumaru
Keyword(s):  
Interaction Design ◽  
Detection Method ◽  
Training System ◽  
Human Robot Interaction ◽  
Design Concept ◽  
Experimental Results ◽  
Robot Interaction ◽  
Coordination Training ◽  
Foot Model ◽  
New System

AbstractThis paper shows a novel walking training system for foot-eye coordination. To design customizable trajectories for different users conveniently in walking training, a new system which can track and record the actual walking trajectories by a tutor and can use these trajectories for the walking training by a trainee is developed. We set the four items as its human-robot interaction design concept: feedback, synchronization, ingenuity and adaptability. A foot model is proposed to define the position and direction of a foot. The errors in the detection method used in the system are less than 40 mm in position and 15 deg in direction. On this basis, three parts are structured to achieve the system functions: Trajectory Designer, Trajectory Viewer and Mobile Walking Trainer. According to the experimental results,we have confirmed the systemworks as intended and designed such that the steps recorded in Trajectory Designer could be used successfully as the footmarks projected in Mobile Walking Trainer and foot-eye coordination training would be conducted smoothly.

PERANCANGAN GEDUNG BIOSKOP DI KOTA SINTANG

2021 ◽  
Vol 9 (1) ◽  
pp. 327
Author(s):  
Denny Agung Prasetyo ◽  
Jawas Dwijo Putro ◽  
Syaiful Muazir
Keyword(s):  
Building Design ◽  
Design Concept ◽  
Work Activity ◽  
Cultural Elements ◽  
West Kalimantan ◽  
Rectangular Shape ◽  
High Level ◽  
Recreation And Tourism ◽  
Modern Building

One of the districts with the largest population, densest population activities, and supporting economy is Sintang District, West Kalimantan Province with a population of 413,369 people in 2018. The increase in the population of Sintang Regency every year results in a high level of work activity and affects the desire to go to entertainment, recreation and tourism places. Many places can be visited in Sintang Regency, one of which is the Bukit Kelam tour. In today's technological era, the cinema building is one of the solutions for entertainment venues, where the audience can devote all their attentions and feelings to the living picture being witnessed. Therefore, the design of the Cinema Building located in Sintang Regency is a solution to provide a forum for the community to enjoy film shows and provide a modern building concept that is inseparable from the cultural elements in Sintang Regency. The concept of layout outside and inside the building is needed as an attraction to the Cinema Building. The theater building has the appeal of a dynamic building with a rectangular shape that follows the concept of a projector with the use of wood colors to make it look more elegant. In the building, the designer added Dayak and Malay ornaments which were elements of the Cinema Building Design concept so that it was not separated from cultural elements.

scholarly journals Towards High-Level Intrinsic Exploration in Reinforcement Learning

2020 ◽  
Author(s):  
Nicolas Bougie ◽  
Ryutaro Ichise
Keyword(s):  
Reinforcement Learning ◽  
Time Horizon ◽  
State Of The Art ◽  
Experimental Results ◽  
Prior Work ◽  
Extrinsic Rewards ◽  
Intrinsic Reward ◽  
Long Time ◽  
End To End ◽  
High Level

Deep reinforcement learning (DRL) methods traditionally struggle with tasks where environment rewards are sparse or delayed, which entails that exploration remains one of the key challenges of DRL. Instead of solely relying on extrinsic rewards, many state-of-the-art methods use intrinsic curiosity as exploration signal. While they hold promise of better local exploration, discovering global exploration strategies is beyond the reach of current methods. We propose a novel end-to-end intrinsic reward formulation that introduces high-level exploration in reinforcement learning. Our curiosity signal is driven by a fast reward that deals with local exploration and a slow reward that incentivizes long-time horizon exploration strategies. We formulate curiosity as the error in an agent’s ability to reconstruct the observations given their contexts. Experimental results show that this high-level exploration enables our agents to outperform prior work in several Atari games.

Influence of the Laminate Configurations of Transparent Armor on its Ballistic Protection

2014 ◽  
Vol 608 ◽  
pp. 253-258 ◽  
Author(s):  
Priawthida Jantharat ◽  
Ryan C. McCuiston ◽  
Chaiwut Gamonpilas ◽  
Sujarinee Kochawattana
Keyword(s):  
Experimental Results ◽  
Front Face ◽  
Light Weight ◽  
Ballistic Performance ◽  
User Requirement ◽  
Element Analysis ◽  
Minimum Requirement ◽  
National Institute Of Justice ◽  
Ballistic Protection ◽  
High Level

The ballistic performance of transparent armors has been continuously developed for an application on security purposes. Generally, ballistic performance of the laminated glass increases with its thickness and weight while the user requirement prefers high level of ballistic protection with thin and light weight body. In this study, fabrication of light weight glass-PVB transparent armors with the level-3 protection according to the National Institute of Justice (NIJ) standard was attempted. The ballistic performances of various configurations of glass-PVB laminates were determined against 7.62 mm ammunitions. Results from fragmentation analysis indicated the influence of glass-sheet-arrangement in the armor structures on the ballistic damages. The minimum requirement on the thickness of front-face layer was also discussed. To verify the experimental results, finite element analysis was performed on all laminated systems. It was found that the results from computational analysis were in reasonable agreement with the experimental results.

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