Force control and breakthrough detection of a bone drilling system

Because neurosurgery and orthopedic surgery often require the drilling of bones, this paper attempts to solve the problem of bone drilling. The goal is to realize a control system, which is able to drill with a contact drilling force and can automatically stop drilling at the moment of breaking thro...

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Main Authors: Wen-Yo Lee, Ching-Long Shih
Format: Conference Proceeding
Language:English
Subjects:
Automatic control
Bones
Control systems
Drilling
Feeds
Force control
Impedance
Motor drives
Neurosurgery
Orthopedic surgery
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Ching-Long Shih
description Because neurosurgery and orthopedic surgery often require the drilling of bones, this paper attempts to solve the problem of bone drilling. The goal is to realize a control system, which is able to drill with a contact drilling force and can automatically stop drilling at the moment of breaking through. In particular, both the DC drilling motor control and the feed rate control are driven by force control in order to accommodate the system impedance. Moreover, the breakthrough detection is according to the threshold information of the thrust force as well as the trend of both the drilling torque and feed rate. The proposed technique has been experimentally verified through the drilling of pig bones, and the results are in accordance with the theoretical model both in the bone drilling process and at the point of breakthrough.
doi_str_mv 10.1109/ROBOT.2003.1241853
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ispartof 2003 IEEE International Conference on Robotics and Automation (Cat. No.03CH37422), 2003, Vol.2, p.1787-1792 vol.2
issn 1050-4729
2577-087X
language eng
recordid cdi_ieee_primary_1241853
source IEEE Xplore All Conference Series
subjects Automatic control
Bones
Control systems
Drilling
Feeds
Force control
Impedance
Motor drives
Neurosurgery
Orthopedic surgery
title Force control and breakthrough detection of a bone drilling system
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