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DRIBON: A mechatronic bone drilling tool
Authors:Marcos Louredo  Iñaki Díaz  Jorge Juan Gil
Affiliation:1. Project neuroArm, Department of Clinical Neuroscience, Cumming School of Medicine, University of Calgary, Alberta, Canada;2. Department of Mechanical Engineering, Schulich School of Engineering, University of Calgary, Alberta, Canada;3. Ohlson Research Initiative, Arnie Charbonneau Cancer Institute, Section of Otolaryngology – Head & Neck Surgery, Cumming School of Medicine, University of Calgary, Alberta, Canada;4. Department of Computer Science, Faculty of Science, University of Calgary, Alberta, Canada;1. Key Laboratory for Biomechanics and Mechanobiology of Ministry of Education, School of Biological Science and Medical Engineering, Beihang University, Beijing 100191, China;2. Research Institute of Beihang University in Shenzhen, Shenzhen 518057, China;3. Institute of Biomedical Engineering, National Yang-Ming University, Taipei, Taiwan;1. Institute of Forming Technology & Equipment, Shanghai, China;2. Institute of Medical Robotics, Shanghai Jiao Tong University, Shanghai, China;3. Shanghai Ninth People''s Hospital, Shanghai Jiao Tong University School of Medicine, Shanghai, China
Abstract:This paper presents a new automatic mechatronic tool for bone drilling, a procedure which is currently very manual and where depth control is critical in most scenarios. The system and methods developed involve driving a rotating drill bit in an axial direction so that both the linear movement and the rotation of the drill bit are controlled and measurable for automatic drilling procedures. Control algorithms allow the system to effectively stop the drilling procedure as a response to bone layer transitions and/or breakthroughs without damaging the surrounding tissue. Validation experiments on the new bone drilling methodology and proposed system have been carried out.
Keywords:
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