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Compact Bone Drilling Robotic System with High Rigidity

Compact Bone Drilling Robotic System with High Rigidity
Translated Title
높은 강성을 갖는 소형 뼈 천공 로봇 시스템
Seongbo Shim
DGIST Authors
Shim, Seongbo; Joung, Sanghyun; Hong, Jaesung
Sanghyun Joung
Issue Date
Available Date
Degree Date
뼈 천공, 영상 기반 네비게이션, 원격 중심 움직임 메커니즘, 천공 메커니즘
One of the most important and difficult tasks during the bone drilling is to guide the orientation of the drill-ing axis for the target and to maintain the orientation against the reaction force of drilling during the procedure. To assist the drilling task, a remote center of motion (RCM) mechanism is proper for aligning the orientation without changing the entry point. However, existing RCM mechanisms do not provide sufficient resolution and rigidity to deal with hard tissues. We proposed a new type of RCM mechanism which uses two pairs of lin-ear actuators and gearless-arc guide. For the drilling motion, we designed a single motor-based 2-axis control mechanism based on the rolling friction. In addition, a release mechanism for instant stopping of the drilling motion as requested was added. For the automatic control of guiding and drilling, a CT based navigation sys-tem with an optical tracking system was incorporated. The effectiveness of the integrated robotic system was demonstrated in a series of experiments and ex-vivo drilling test on swine femurs. The proposed robotic system withstood an external force of up to 51 N to maintain the joint angle, and an average targeting error was less than 1.2 mm.
Table Of Contents
I. INTRODUCTION 1 1.1 Introduction of Bone Drilling 1 1.2 Reported Bone Drilling Robotic Systems 2 1.3 Challenges of the Reported Robotic Systems 4 1.4 Contribution and Research Contents 6 Ⅱ. ROLLING FRCTION BASED DRILLING MECHANISM 7 2.1 Introduction of Drilling Mechanism 7 2.2 Mechanisms of Robotic System 10 2.2.1 Rolling Friction Based Drilling Mechanism 10 2.2.2 Release Mechanism 14 2.2.3 Orientation Mechanism 15 2.3 Navigation System 20 2.3.1 Robot and Drill Calibration 21 2.3.2 Frame Matching between the Robot and CT Image 21 2.3.3 Navigation Algorithm 22 2.4 Experiments and Results 24 2.4.1 Drilling Mechanism 24 2.4.2 Orientation Mechanism 27 2.4.3 Ex Vivo Drilling Test 30 2.5 Discussion 35 2.6 Conclusion 38 Ⅲ. REMOTE CENTER OF MOTION BASED GUIDING MECHANISM 39 3.1 Introduction of Guiding Mechanism 39 3.2 Design of the Proposed RCM Mechanisms 41 3.2.1 Design Consideration 41 3.2.2 Structure and Workspace of the RCM Mechanism 42 3.3 Navigation System 47 3.3.1 System Configuration 47 3.3.2 Frame Matching between the Robot and CT Image 48 3.3.3 Tracking Algorithm 49 3.4 Experiments and Results 51 3.4.1 Existence of an RCM 51 3.4.2 Rigidity Test about Tilting Motion 53 3.4.3 Targeting Test 55 3.5 Discussion 59 3.6 Conclusion 61 Ⅳ. INTEGRATED ROBOTIC SYSTEM FOR BONE DRILLING 62 4.1 Dual Trigonometric Ratio based RCM Mechanism 62 4.1.1 Design Consideration 62 4.1.2 Structure and Workspace of the DT-RCM 63 4.1.3 Static Analysis of Resolution and Force 65 4.2 Single Moter based Drilling Mechanism 68 4.2.1 Design of the Proposed Drilling Mechanism 68 4.2.2 Release Mechanism 70 4.3 Navigation System 72 4.3.1 System Sonfiguration 72 4.3.2 Registration between the Robot and CT Image Frame 73 4.3.3 Tracking Algorithm 74 V. EXPERIMENTS AND RESULTS 76 5.1 Accuracy Test for RCM 76 5.2 Rigidity Test for Yaw and Pitch Axes 78 5.3 Targeting Accuracy and Resolution 80 5.4 Ex Vivo Drilling Test on Swine Femurs 82 Ⅵ. DISCUSSION 86 Ⅶ. CONCLUTION AND FUTURE WORKS 88
Robotics Engineering
Related Researcher
  • Author Hong, Jaesung Surgical Robotics & Augmented Reality Lab
  • Research Interests Surgical Navigation; Surgical Robot; Medical Imaging; 영상 유도 수술 로봇; 수술 내비게이션
Department of Robotics EngineeringThesesPh.D.

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