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Contact Compliance Based Visual Feedback for Tool Alignment in Robot Assisted Bone Drilling.
1Department of Biomechatronics Engineering, National Taiwan University, Taipei 10617, Taiwan.
Sensors (Basel, Switzerland)
|May 20, 2022
Summary
This study introduces a novel force control for handheld orthopedic robots to improve bone drilling accuracy. The new method enhances positioning accuracy and prevents drill slippage during surgery.
Area of Science:
- Robotics
- Orthopedic Surgery
- Biomedical Engineering
Background:
- Robot-assisted surgery offers improved precision in minimally invasive procedures.
- Challenges remain in accurate bone drilling, especially on hard cortical bone surfaces.
- Surgical robots can experience slippage and path deviation during bone contact.
Purpose of the Study:
- To propose a force control strategy for handheld orthopedic robots.
- To enhance the accuracy and stability of bone drilling procedures.
- To address the limitations of current surgical robot systems in bone procedures.
Main Methods:
- Implemented a force control alongside a resolved motion rate controller in a handheld orthopedic robot.
- Developed a contact compliance adjustment mechanism for the drill bit.
- Utilized visual feedback for the contact compliance control structure.
Main Results:
- The proposed force control adjusted drill contact compliance to the bone surface.
- Prevented drill deflection and ensured accurate targeting of the entry point.
- Demonstrated superior positioning accuracy under disturbances in experiments.
Conclusions:
- The developed force control enhances the usability and accuracy of orthopedic robots for bone drilling.
- Adjusting contact compliance is crucial for overcoming challenges in robotic bone surgery.
- This approach improves robotic surgical outcomes in demanding orthopedic applications.
