Control and breakthrough detection of a three-axis robotic bone drilling system |
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| Affiliation: | 1. Harbin Institute of Technology (Shenzhen), University Town of Shenzhen, Shenzhen 518055, China;2. Shenzhen Key Laboratory of Minimally Invasive Surgical Robotics and System, Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen 518055, China;3. Technical University of Munich, Munich 85748, Germany;4. University of Hamburg, Hamburg 22527, Germany;1. Department of Mechanical Engineering, Arak University of Technology, Arak, Iran;2. Department of Mechanical Engineering, Shahid Rajaee Teacher Training University, Tehran, Iran;3. Department of Mechanical Engineering, Arak University, Arak, Iran |
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| Abstract: | This paper describes a robotic bone drilling system for applications in orthopedic surgery. The goal is to realize a three-axis robotic drilling system which can automatically stop drilling at the moment a drill breaks through bone. The proposed robotic bone drilling system consists of an inner loop fuzzy controller for robot position control, and an outer loop PD controller for feed unit force control. Moreover, breakthrough detection is a function of thrust force threshold information and trends in drill torque and feed rate. The proposed technique has been verified by drilling pig bones, the results for both the bone drilling and bone breakthrough processes are in accord with theoretical model. |
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