Abstract
This paper describes a robotic bone drilling and screwing system for applications in orthopedic surgery. The goal is to realize two robot manipulators performing cooperative bone drilling. The proposed cooperative bone drilling system can be divided into hardware and software development. The hardware development section consists of two robot manipulator arms, which perform drilling and gripping of the bone, and operates using two joysticks. The software section assists the surgeon in visual and navigation control of those robot manipulators. Controller used in this system can be included in the hardware and software sections. Disturbance observer based position control was used in the robot manipulator maneuver and reposition controller (cooperative control) was used in cooperative drilling operation to maintain the alignment of the drill bit during drilling. A mathematical model for the control system was designed and a real environment mimicking simulation for bone drilling was designed. The result of the simulation shows that the cooperative robot system managed to perform cooperative drilling when misalignment occurs during bone drilling. The bone gripping robot managed to restore the drill bit to its ideal alignment in every event of misalignment in the drilling axis. Therefore this cooperative system has potential application in experimental orthopedic surgery.
Highlights
Orthopedic drilling is generally performed to extend length, straighten deformities, and remove regions affected by tumors and infections of the bone
The main advantages of robot-assisted orthopedic drilling over conventional orthopedic techniques are the improved accuracy and precision in the preparation of bone surfaces, more reliable and reproducible outcomes, and greater spatial accuracy
This interface consists of mapping algorithm for joystick and robot manipulators motion mapping process which will be cooperative robots for orthopedic drilling assistance (CRODA) cooperative control system
Summary
Orthopedic drilling is generally performed to extend length, straighten deformities, and remove regions affected by tumors and infections of the bone. Due to the rigidity of the bone and the precision required, orthopedic drilling is one of the focus areas for robot assisted surgery. The research main focus was on sensor technology due to the system’s heavy dependency on the information coming from different sensors This system uses target visualization (optical localizer) for robot control and patient tracking. The study revealed that in “push-hold” schemes, industrial robots perform smoother and faster pushing task and compliant robots are better holders Both of the cooperative systems were not implemented in orthopedic surgery. The arm can operate independently or synchronously performing complex bimanual assembly tasks [11] The objective of this system is to perform cooperative control in orthopedic bone drilling procedures.
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