Power analysis of robotic medical drill with different control approaches

Abstract

Increasing the efficiency of the systems used in surgical operations has become an important issue. Especially in orthopedic surgery, many surgical systems and instruments are used to reduce the workload of surgeons and increase the success of the operation. Surgical drills, which are one of these systems used in orthopedic surgery, are used in operations such as drilling, cutting and carving in various interventions. Cases such as drill sensitivity and stability are critical to operational success and patient health. In this study, an orthopedic drill design that can be added to a linear motion module or a 6-axis robot manipulator has been realized. Linear Quadratic Regulator (LQR), which is one of the optimal controller methods, Proportional Integral (PI) Controller, which is one of the classical controller methods and Model Predictive Controller (MPC) systems from modern controller systems are designed to perform speed control task of the surgical drill. A drill integrated into the robot manipulator for a constant drilling speed of 120 rad/sec and a robot manipulator were used to provide constant feed rate (1 mm/s) and to drill holes at constant intervals during the drilling experiments. Power analysis is performed in real-time in bone drilling operations for three controllers. Current, and voltage information during drilling are recorded simultaneously in the experimental setup. In particular, it has been observed that the power signal and the force information of the bone in different layers are proportional.

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

“…Since the hardness of a cortical bone changes according to the drilling path as mentioned in the work of Torun and Öztürk [4], we have simulated the change of load torque and friction coefficient as drilling one hole on bicortical bone. A detailed discussion about bicortical drilling path could be found with further reading of recent literature works [4,5,7,8,11,16,31]. For estimating the load torque, it is assumed that one-hole drilling is performed within 5 seconds.…”

“…Friction varies according to drill bit geometry, drill speed, and the hardness of drilled tissue as mentioned in [32,33]. In this work, it has been tried to form a synthetic friction coefficient waveform for the bicortical drilling path with knowledge of recent literature [4,6,31] which focuses on the changes in the dynamic of the drilling for bicortical bone. Drill bit contacts with the first cortical layer at zero instant.…”

Bone Drilling: A Review with a Lab Case Study of Bone Layer Classification Using Vibration Signal and Long Short-Term Memory

“…These innovations have a positive impact on patient safety and the effectiveness of medical procedures and can help reduce the risk of complications and speed up the healing process. In bone drilling, bone structures that are examined and treated with nails and screws are generally composed of three layers of the inner base bone, namely the first cortical bone, spongy bone, and second cortical bone layer [1].…”