Robotic System for Bone Drilling Using a Rolling Friction Mechanism

Shim, Seongbo; Choi, Hye Sook; Ji, Daekeun; Kang, Wongin; Hong, Jaesung

doi:10.1109/tmech.2018.2854890

Cited by 12 publications

(9 citation statements)

References 34 publications

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“…23 However, considering the unstable feed rate of the manual operation by the surgeon and the complex structure of bone, the accuracy of the drilling position is difficult to control during the operation process. 24 Robot-assisted systems have been proposed to improve the precision of surgery. It has been applied in knee arthroplasty and pedicle screw placement in spine surgery.…”

Section: Introductionmentioning

confidence: 99%

Effect of process parameters on the temperature changes during robotic bone drilling

Han

Cai

et al. 2022

Proc Inst Mech Eng H

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In medical surgery, bone drilling is an inevitable procedure. The thermal necrosis in the drilling process can affect post-operative recovery. In this study, the method of drill bit precooling is proposed in bone drilling with robot assisted system. The influence of process parameters on the drilling temperature were investigated and analyzed. The results showed that the method of drill bit precooling could reduce the drilling temperature. The drill bit starting temperature and the feed rate were more important parameters on the drilling temperature compared with rotational speed and cooling length of the drill bit. The quadratic regression model obtained from response surface experiments can predicted the drilling temperature correctly under the range of process parameters in this study. The optimal parameter combination is rotational speed = 1610 rpm, feed rate = 0.5 mm/s, the starting temperature of drill bit = 8°C, and the cooling length = 34.8 mm. The results provide an effective method to reduce thermal necrosis of bone cells in drilling.

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Section: Introductionmentioning

confidence: 99%

Effect of process parameters on the temperature changes during robotic bone drilling

Han

Cai

et al. 2022

Proc Inst Mech Eng H

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“…With the increasing applications of automation, various research activities have been carried out to design [11] and control [12] the drilling and milling robotic mechanism for aviation [13,14] and surgical applications [15,16]. Also, there were many previous works related to the modeling of machining tasks [17][18][19][20][21][22][23][24].…”

Section: Introductionmentioning

confidence: 99%

“…If the linear and angular impulsive forces and linear and angular velocities are measurable, the effective mass and effective inertia can be calculated by using eqs. ( 9) to (15).…”

mentioning

confidence: 99%

Modeling, Analysis, and Optimization of Robotic Light Machining Tasks for Empowering Digital Twin: Generalized Impulse Model Approach

et al. 2022

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Light machining tasks by robots are becoming an important issue to replace shortages of human resources. To improve the quality, safety and overall performance of manufacturing process, the modeling for estimation of forces and torques during the machining operations is on demand. In parallel, the digital model has also been developed which allow to detect the foul conditions, save energy & time and optimization of the real manufacturing process. Digital twins are one of them which use the offline and online data to simulate the physical manufacturing process. However, the empowerment of digital twins can be improved further by developing more accurate mathematical model which allow to simulate the physical machining process in real time. Accordingly, this paper presents a formulation for the mechanics of robotic light machining tasks to empower the digital twin. In this paper, a generalized impulse model is employed to analyze a light machining task that combines the linear and angular motions. For the implementation of an impulse model-based approach, the concept of both effective mass and effective inertia is newly introduced to reflect the dynamics of the environment, which depends on the hardness of the material and process parameters (feed rate and speed (rpm) etc.) of the machining task. Furthermore, optimal feed rates are calculated with consideration of effective mass/effective inertia and minimum task completion time. Moreover, simulations are carried out to choose the feasible direction of linear and angular velocities and optimal non-singular workspace for light machining tasks. Finally, the proposed methodology is validated through a quantitative comparison of simulation and experimental results by performing the drilling and milling tasks. A 6-DOF Universal robot (UR 5e) is used for simulations and experiments to corroborate the effectiveness of the proposed algorithms for light machining tasks. The developed methodology will certainly empower the digital twin for their physical analog during light machining operations.

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“…muscles, fat, ligaments and tendons) that allow the bone to move, and thus, the bone may deviate from its normal position due to the cutting force exerted by the tool. In surgical drilling, monitoring the drilling depth is important to increase the safety of the operation and to avoid damage to other tissues 16 . Dai et al 17,18 .…”

Section: Introductionmentioning

confidence: 99%

“…In surgical drilling, monitoring the drilling depth is important to increase the safety of the operation and to avoid damage to other tissues. 16 Dai et al 17,18 investigated the harmonic component in the bone vibration signal, whose frequency was integer multiples of the rotation frequency.…”

Section: Introductionmentioning

confidence: 99%

Vibration‐based drilling depth estimation of bone

Dai

Armand

2021

Robotics Computer Surgery

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Drilling is one of the most common forms of tissue removal procedures, and drilling to a desired depth contributes to avoid injury to the soft tissue beyond and ensure implant stability. The deformation of the human musculoskeletal system has been a common problem in many drilling processes, making it difficult to achieve accurate estimation of the drilling depth. To remedy this problem, a dynamic model is presented to describe the relationship between the axial vibration of the drill and the feed rate. During drilling process, the amplitude of the main harmonic is estimated from the high‐frequency component of the acceleration signal, while the short‐time integral of the low‐frequency part is calculated. Both the initial contact of the drilling tool to the bone and breakthrough are identified by comparing either the harmonic amplitude or the short‐time integral. The harmonic amplitude is mapped to the data from a non‐contact position sensor tracking the feed rate of the drill. Multiple drilling experiments on both a handheld device and a robotic cutting system demonstrated the effectiveness, stability and accuracy of the method when estimating depth. The mean maximum error for drilling depth estimation is less than 15% of the simulated bone thickness when using the handheld device, while the mean maximum error is less than 5% for the robotic cutting system.

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Robotic System for Bone Drilling Using a Rolling Friction Mechanism

Cited by 12 publications

References 34 publications

Effect of process parameters on the temperature changes during robotic bone drilling

Effect of process parameters on the temperature changes during robotic bone drilling

Modeling, Analysis, and Optimization of Robotic Light Machining Tasks for Empowering Digital Twin: Generalized Impulse Model Approach

Vibration‐based drilling depth estimation of bone

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