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Handheld Robot for Bone Drilling Assistance

4 pagesPublished: August 17, 2017


Computer navigation systems has provided useful visual guidance for the surgeon to deliberately locate the tools to the anatomy. However, the tool positioning process is still manually performed. Sometimes the tool positioning may cause fatigue, stress and might be of risk to patient too. In this paper we designed a special purpose handheld robot for bone drilling. Meanwhile the coordinated controller assists the surgeon to precisely and safely drill the bone safely. Two force sensors are embedded at the handle and the cutter to measure the human exerted force and bone drilling force, respectively. The velocity command was then computed by the admittance controller for the robot controller. The motion of the control handle is positioned by the surgeon, while the surgical tool driven by the robot end-effector. The coordination between the human operator and the robot was designed so that the bone drilling can be performed more effectively than only imagenavigation scenario. The drill was able to be maintained on the target trajectory with reasonable accuracy within 2 mm although the human operator has deviated the surgical tool up to 5 cm. The compensation function to guide the drill back to the planned path was very useful to prevent the drill’s breakage when penetrating through the holes on the bone plate in bone drilling procedure.

Keyphrases: Handheld Robot, trauma surgery, Bone drilling

In: Klaus Radermacher and Ferdinando Rodriguez Y Baena (editors). CAOS 2017. 17th Annual Meeting of the International Society for Computer Assisted Orthopaedic Surgery, vol 1, pages 329--332

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