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. 2012 Jun;8(2):221-9.
doi: 10.1002/rcs.457. Epub 2012 Jan 24.

Telerobotic-assisted bone-drilling system using bilateral control with feed operation scaling and cutting force scaling

Yusuke Kasahara  1 , Hiromasa Kawana, Shin Usuda, Kouhei Ohnishi
Affiliations
Free PMC article

Telerobotic-assisted bone-drilling system using bilateral control with feed operation scaling and cutting force scaling

Yusuke Kasahara et al. Int J Med Robot. 2012 Jun.
Free PMC article

Abstract

Background: Drilling is used in the medical field, especially in oral surgery and orthopaedics. In recent years, oral surgery involving dental implants has become more common. However, the risky drilling process causes serious accidents. To prevent these accidents, supporting systems such as robotic drilling systems are required.

Methods: A telerobotic-assisted drilling system is proposed. An acceleration-based four-channel bilateral control system is implemented in linear actuators in a master-slave system for drill feeding. A reaction force observer is used instead of a force sensor for measuring cutting force. Cutting force transmits from a cutting material to a surgeon, who may feel a static cutting resistance force and vigorous cutting vibrations, via the master-slave system. Moreover, position scaling and force scaling are achieved. Scaling functions are used to achieve precise drilling and hazard detection via force sensation.

Results: Cutting accuracy and reproducibility of the cutting force were evaluated by angular velocity/position error and frequency analysis of the cutting force, respectively, and errors were > 2.0 rpm and > 0.2 mm, respectively. Spectrum peaks of the cutting vibration were at the theoretical vibration frequencies of 30, 60 and 90 Hz.

Conclusions: The proposed telerobotic-assisted drilling system achieved precise manipulation of the drill feed and vivid feedback from the cutting force.

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Figures

Figure 1
Figure 1
Structure of teleoperated drilling system: (a) conventional system; (b) proposed system
Figure 2
Figure 2
Angular velocity control
Figure 3
Figure 3
Acceleration control system
Figure 4
Figure 4
Acceleration-based four-channel bilateral control
Figure 5
Figure 5
Overview of the proposed system: (a) master system; (b) slave system
Figure 6
Figure 6
Experimental setting
Figure 7
Figure 7
Constant velocity test
Figure 8
Figure 8
Angular velocity response
Figure 9
Figure 9
Estimated cutting torque
Figure 10
Figure 10
Position response
Figure 11
Figure 11
Force response
Figure 12
Figure 12
Angular velocity error
Figure 13
Figure 13
Tracking error of the master–slave system
Figure 14
Figure 14
Spectrogram of force response
See this image and copyright information in PMC

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