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Feed rate control in robotic bone drilling process.

Tony Boiadjiev¹, George Boiadjiev², Kamen Delchev^2,3

¹Institute of Information and Communication Technologies, Bulgarian Academy of Sciences, Sofia, Bulgaria.

Proceedings of the Institution of Mechanical Engineers. Part H, Journal of Engineering in Medicine

|November 24, 2020

Summary

This summary is machine-generated.

This study introduces an innovative feed rate control algorithm for automated bone drilling, minimizing thermal damage and improving surgical outcomes. The algorithm enhances precision in orthopedic surgery by controlling drill parameters during bicortical bone drilling.

Keywords:

Bone drilling feed rate control handheld-medical robot orthopaedic surgery thrust force feedback

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Area of Science:

Biomedical Engineering
Orthopedic Surgery
Robotics

Background:

Bone drilling is critical in orthopedic surgery, with parameters like feed rate and drill speed significantly impacting bone tissue damage and hole quality.
Manual control of these parameters by surgeons is subjective and can lead to suboptimal results.
Automated drilling offers potential for precise control and improved outcomes in procedures like bicortical bone drilling.

Purpose of the Study:

To develop and implement an original feed rate control algorithm for automated bicortical bone drilling using the Orthopaedic Drilling Robot (ODRO).
To address key challenges in bone drilling, including minimizing heat generation, preventing drill bit slip and bending, and reducing micro-crack formation.
To enhance the quality of drilled holes and optimize the drilling process in orthopedic surgery.

Main Methods:

Development of a novel feed rate control algorithm implemented via specialized software for the ODRO.
Real-time control of feed rate (0.5-6 mm/s) based on drill bit position and force sensor data during different stages of bicortical drilling.
Integration of the algorithm into an automated drilling system for precise manipulation.

Main Results:

The proposed algorithm effectively controls feed rate across various stages of bicortical bone drilling.
Demonstrated minimization of drilling time and associated heat generation.
Successfully eliminated drill bit slip at the near cortex and bending at the far cortex, improving hole quality and reducing risks like traumatic osteonecrosis.

Conclusions:

The developed feed rate control algorithm represents a significant advancement in automated bone drilling for orthopedic surgery.
This approach enhances surgical precision, reduces patient risk, and improves the overall quality of bone procedures.
The ODRO system with the novel algorithm offers a reliable solution for optimizing bicortical bone drilling parameters.