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.

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.

Comparison of Conventional and Ultrasonic Drilling on Cutting Force in Porcine and Human Femur

2020 ◽  
Author(s):  
Ravinder Pal Singh ◽  
Pulak Mohan Pandey
Keyword(s):  
Cutting Force ◽  
Feed Rate ◽  
Rotational Speed ◽  
Bone Fractures ◽  
Drilling Process ◽  
Human Beings ◽  
Bone Drilling ◽  
Human Femur ◽  
Ultrasonic Drilling ◽  
Drill Diameter

Abstract Bone fractures are common in human beings, and the surgical operation performed to repair the fractured bone includes the drilling process. Axial cutting force during drilling plays an important role for success in osteosynthesis. Many processes like water jet machining, laser drilling, ultrasonic drilling, two phase drilling and rotary ultrasonic bone drilling (RUBD), have been developed to minimize the cutting force during orthopedic drilling. In the present work, a novel operation theatre compatible ultrasonic assisted rotary bone drilling machine prototype have been designed and fabricated in an attempt to reduce the cutting forces produced during orthopedic drilling. The experimental test were performed on fresh porcine bone and human femur. A comparative study was carried out between RUBD and Conventional drilling (CD), to find out the influence of rotational speed, drilling tool feed rate and drill diameter, on the cutting force produced during the drilling. The study of chip produced in RUBD and CD was also carried out with the help of scanning electron microscopy images. The result obtained by the developed machine showed that the cutting force obtained in human femur was greater (20–25 %) than porcine femur due to its greater hardness and RUBD process produced lower cutting force (20–30 %) than CD for both types of bone. The experimental results showed the increase in cutting force with decreasing rotational speed and increasing feed rate and drill diameter.

Investigation, sensitivity analysis, and multi-objective optimization of effective parameters on temperature and force in robotic drilling cortical bone

2017 ◽  
Vol 231 (11) ◽  
pp. 1012-1024 ◽  
Author(s):  
Vahid Tahmasbi ◽  
Majid Ghoreishi ◽  
Mojtaba Zolfaghari
Keyword(s):  
Sensitivity Analysis ◽  
Feed Rate ◽  
Process Temperature ◽  
Drilling Process ◽  
Drilling Speed ◽  
Multi Objective Optimization ◽  
Bone Drilling ◽  
Multi Objective ◽  
Tool Diameter ◽  
First Time

The bone drilling process is very prominent in orthopedic surgeries and in the repair of bone fractures. It is also very common in dentistry and bone sampling operations. Due to the complexity of bone and the sensitivity of the process, bone drilling is one of the most important and sensitive processes in biomedical engineering. Orthopedic surgeries can be improved using robotic systems and mechatronic tools. The most crucial problem during drilling is an unwanted increase in process temperature (higher than 47 °C), which causes thermal osteonecrosis or cell death and local burning of the bone tissue. Moreover, imposing higher forces to the bone may lead to breaking or cracking and consequently cause serious damage. In this study, a mathematical second-order linear regression model as a function of tool drilling speed, feed rate, tool diameter, and their effective interactions is introduced to predict temperature and force during the bone drilling process. This model can determine the maximum speed of surgery that remains within an acceptable temperature range. Moreover, for the first time, using designed experiments, the bone drilling process was modeled, and the drilling speed, feed rate, and tool diameter were optimized. Then, using response surface methodology and applying a multi-objective optimization, drilling force was minimized to sustain an acceptable temperature range without damaging the bone or the surrounding tissue. In addition, for the first time, Sobol statistical sensitivity analysis is used to ascertain the effect of process input parameters on process temperature and force. The results show that among all effective input parameters, tool rotational speed, feed rate, and tool diameter have the highest influence on process temperature and force, respectively. The behavior of each output parameters with variation in each input parameter is further investigated. Finally, a multi-objective optimization has been performed considering all the aforementioned parameters. This optimization yielded a set of data that can considerably improve orthopedic osteosynthesis outcomes.

Optimizing Dressing Conditions for Minimum Flatness Tolerance when Grinding SKD11 Tool Steel

2021 ◽  
Vol 1020 ◽  
pp. 83-90
Author(s):  
Thi Hong Tran ◽  
Tran Ngoc Giang ◽  
Ngoc Vu Ngo ◽  
Thanh Danh Bui ◽  
Thanh Tu Nguyen ◽  
...  
Keyword(s):  
Tool Steel ◽  
Feed Rate ◽  
Input Parameter ◽  
Experimental Results ◽  
Grinding Wheel ◽  
Input Parameters

This study is to determine effects of the dressing parameters to the flatness tolerance (Fl) when grinding SKD11 steel using HaiDuong grinding wheel and also propose the suitable dressing parameters to obtain the smallest flatness tolerance. In this paper, the effects of the six input parameters including feed rate (S), depth of rough dressing cut (ar), rough dressing times (nr), depth of finish dressing cut (af), finish dressing times (nf) and non-feeding dressing (nnon) to the flatness tolerance were investigated. To find out the influence of each input parameter on output results, the S/N ratio was analysized. Evaluated experimental results show that, the average flatness tolerance was 4.05μm and deviation of this value was 11.38% compared with the predicted value.

Feed rate control in robotic bone drilling process

2020 ◽  
pp. 095441192097589
Author(s):  
Tony Boiadjiev ◽  
George Boiadjiev ◽  
Kamen Delchev ◽  
Ivan Chavdarov ◽  
Roumen Kastelov
Keyword(s):  
Rate Control ◽  
Feed Rate ◽  
Control Algorithm ◽  
Force Sensor ◽  
Sensor Data ◽  
Drilling Process ◽  
Drill Bit ◽  
Bone Drilling ◽  
Hole Quality ◽  
Rate Control Algorithm

The bone drilling process is characterised by various parameters, the most important of which are the feed rate (mm/s) and the drill speed (rpm). They highly reflect the final effects and results of the drilling process, such as mechanical and thermal damages of bone tissue and hole quality. During manual drilling, these parameters are controlled by the surgeon based on his practical skills. But automatic drilling can assure an optimal result of the manipulation where such parameters are under control. During bicortical automatic bone drilling such a process consists of several stages: searching the contact with the first cortex, cortex drilling and automatic stop; searching the contact with the second cortex, cortex drilling and automatic stop; drill bit extraction. This work presents a way to control the feed rate during different stages of the bone drilling process (an original feed rate control algorithm) using the orthopaedic drilling robot (ODRO). The feed rate control is based on a proposed algorithm created and realised by specific software. During bicortical bone drilling process the feed rate takes various values in any stage in the range 0.5–6 mm/s. These values depend on drill bit position and real time force sensor data. The novelty of this work is the synthesis of an original feed rate control algorithm to solve the main problems of bone drilling in orthopaedic surgery – minimisation the drilling time (the heat generation); eliminating of the drill bit slip at the first (near) cortex and the drill bit bending at the second (far) cortex; minimising the risk of micro cracks which causes Traumatic Osteonecrosis; improving hole quality of the drilled holes; eliminating of the drill bit slip and the drill bit bending at the second cortex; minimising the value of the second cortex drill bit penetration by bicortical bone drilling.

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.

In vitro comparison of conventional surgical and rotary ultrasonic bone drilling techniques

2020 ◽  
Vol 234 (4) ◽  
pp. 398-411 ◽  
Author(s):  
Vishal Gupta ◽  
Ravinder Pal Singh ◽  
Pulak M Pandey ◽  
Ravi Gupta
Keyword(s):  
Cutting Force ◽  
Feed Rate ◽  
Rotational Speed ◽  
Experimental Investigations ◽  
Drilling Process ◽  
Bone Drilling ◽  
Thermal Necrosis ◽  
Study Results ◽  
Drill Diameter

In orthopedic and trauma surgical operations, drilling of bone is one of the commonly used procedures performed in hospitals and is a clinical practice for fixing the fractured parts of human bones. Force, torque and temperature play a significant role during the bone drilling and decide the stability of the medical implants. Therefore, it is necessary to minimize force, torque and temperature while drilling to avoid the thermal necrosis and osteosynthesis. This study focused on studying the influence of various types of bone drilling parameters (rotational speed, feed rate, drill diameter and ultrasonic amplitude), tools (solid tool, hollow tool and conventional twist drill bit) and techniques (conventional surgical drilling, rotary ultrasonic bone drilling and rotary bone drilling) on force, torque, temperature and microcracks produced in the drilled surface of the bone. The experimental investigations were conducted on porcine bone samples to perform the comparative study. Results revealed that increasing the diameter of drill tool and feed rate results in the increase in force, torque and temperature, while low rotational speed (500 r/min) generated a low temperature, high cutting force and torque for all types of drilling processes and tools evaluated in this study. Experimental results also revealed that rotary ultrasonic bone drilling with hollow tool generated the lowest cutting force, torque, temperature (<47 °C) and microcracks in the drilled surface of the bone as compared to the other four types of drilling techniques evaluated in this study. Influence of external irrigation technique on temperature was also studied with respect to the rotary ultrasonic bone drilling with a hollow tool, which could eliminate the problem of thermal necrosis. In conclusion, this study revealed that the rotary ultrasonic bone drilling process with hollow tool produced lesser cutting force as compared to rotary bone drilling and conventional surgical drilling for hollow and solid tools. The study also revealed that rotary ultrasonic bone drilling process has the potential to minimize the cutting force, torque and temperature as compared to the conventional surgical drilling for orthopedic surgery.

Modeling and Optimization for Multiple Criteria of Hole Quality in Hardened Steel Drilling

2016 ◽  
Vol 835 ◽  
pp. 236-241
Author(s):  
P.Y.M. Wibowo Ndaruhadi ◽  
Bambang Santosa
Keyword(s):  
Surface Roughness ◽  
Feed Rate ◽  
Cutting Speed ◽  
Cutting Parameters ◽  
Hardened Steel ◽  
Experimental Results ◽  
Drilling Process ◽  
Hole Quality ◽  
Circularity Error

Drilling process has many applications including making molds and dies, all requires different quality of the drilled hole. The aim of this study is to establish models and optimization of cutting parameter to get the best hole quality, including enlargement diameter, circularity error and surface roughness in drilling hardened steel. Drilling experiments have been performed using different cutting parameters (i.e. cutting speed and feed rate) and employ and uncoated carbide drill under flooded cooling. The experimental results show that both of the cutting speed and feed rate significantly affect all responses. Models for responses have been developed for investigation in this study, and their optimizations have been obtained, showing better quality of the drilled hole produced at higher cutting speed and lower feed rate. Desirability for the optimum criteria is 0.944 at the highest cutting speed (60 m/min) and lowest feed rate (0.05 mm/rev).

Effects of rotary ultrasonic bone drilling on cutting force and temperature in the human bones

2020 ◽  
Vol 234 (8) ◽  
pp. 829-842 ◽  
Author(s):  
Ravinder Pal Singh ◽  
Pulak Mohan Pandey ◽  
Chittaranjan Behera ◽  
Asit Ranjan Mridha
Keyword(s):  
Cutting Force ◽  
Temperature Rise ◽  
Feed Rate ◽  
Rotational Speed ◽  
Host Factors ◽  
Drilling Process ◽  
Bone Drilling ◽  
Human Bones ◽  
Significant Difference ◽  
Drill Diameter

Efficacy and outcomes of osteosynthesis depend on various factors including types of injury and repair, host factors, characteristics of implant materials and type of implantation. One of the most important host factors appears to be the extent of bone damage due to the mechanical force and thermal injury which are produced at cutting site during bone drilling. The temperature above the critical temperature (47 °C) produces thermal osteonecrosis in the bones. In the present work, experimental investigations were performed to determine the effect of drilling parameters (rotational speed, feed rate and drill diameter) and techniques (conventional surgical bone drilling and rotary ultrasonic bone drilling) on cutting force and temperature generated during bone drilling. The drilling experiments were performed by a newly developed bone drilling machine on different types of human bones (femur, tibia and fibula) having different biological structure and mechanical behaviour. The bone samples were procured from male cadavers with the age of second to fourth decades. The results revealed that there was a significant difference ( p < 0.05) in cutting force and temperature rise for rotary ultrasonic bone drilling and conventional surgical bone drilling. The cutting force obtained in rotary ultrasonic bone drilling was 30%–40%, whereas temperature generated was 50%–55% lesser than conventional surgical bone drilling process for drilling in all types of bones. It was also found that the cutting force increased with increasing feed rate, drill diameter and decrease in rotational speed, whereas increasing rotational speed, drill diameter and feed rate resulted in higher heat generation during bone drilling. Both the techniques revealed that the axial cutting force and the temperature rise were significantly higher in femur and tibia compared with the fibula for all combinations of process parameters.

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.

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