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Inferring material properties in robotic bone drilling processes

Gil Jorge Juan, Díaz Iñaki, Accini Fernando

Acta of Bioengineering and Biomechanics

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2019

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Vol. 21, no. 3

109--118

EN

Recent innovations in robotics have enabled the development of automatic bone drilling tools which allows surgeons to improve the precision of their surgical operations. However, these tools still lack valuable tactile information about the material properties of the bone, preventing surgeons from making decisions while operating. The aim of this work is to explore whether robotic drilling tools can infer bone condition on the basis of certain key measures, particularly thrust force. Methods: To infer material properties in robotic bone drilling processes 1) a complete database of experimental operations with an automatic bone drilling tool is implemented and 2) binary logistic regression models are developed to estimate the type of material from the observed values (mainly the central tendency of the thrust force). This work compares three different materials: bovine bone specimens, porcine bone specimens and FullCure 720, which is a general-purpose resin with, a priori, much less feed resistance. The DRIBON automatic bone drilling tool developed at CEIT is used for the experiments. Results: The classification matrices derived using the logistic models show that it is possible to recognize a bovine bone vs. a porcine bone with a relatively high success rate rate (approximately 90%). In contrast, it is possible to recognize bone material vs. another material (in our case a resin) with a 100% of success. These results are successfully implemented in a new hand-held version of DRIBON. Conclusions: We propose a method and devise a novel hand-held tool which show that robotic systems can effectively infer bone material properties.

2

Drilling resistance : A method to investigate bone quality

Lughmani W. A., Farukh F., Bouazza-Marouf K., Ali H.

Acta of Bioengineering and Biomechanics

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2017

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Vol. 19, no. 1

55--62

EN

Purpose: Bone drilling is a major part of orthopaedic surgery performed during the internal fixation of fractured bones. At present, information related to drilling force, drilling torque, rate of drill-bit penetration and drill-bit rotational speed is not available to orthopaedic surgeons, clinicians and researchers as bone drilling is performed manually. Methods: This study demonstrates that bone drilling force data if recorded in-vivo, during the repair of bone fractures, can provide information about the quality of the bone. To understand the variability and anisotropic behaviour of cortical bone tissue, specimens cut from three anatomic positions of pig and bovine were investigated at the same drilling speed and feed rate. Results: The experimental results showed that the drilling force does not only vary from one animal bone to another, but also vary within the same bone due to its changing microstructure. Drilling force does not give a direct indication of bone quality; therefore it has been correlated with screw pull-out force to provide a realistic estimation of the bone quality. A significantly high value of correlation (r 2 = 0.93 for pig bones and r 2 = 0.88 for bovine bones) between maximum drilling force and normalised screw pull-out strength was found. Conclusions: The results show that drilling data can be used to indicate bone quality during orthopaedic surgery.

3

Modelling and optimization of temperature in orthopaedic drilling : An in vitro study

Pandey R. K., Panda S. S.

Acta of Bioengineering and Biomechanics

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2014

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Vol. 16, no. 1

107--116

EN

This present investigation uses the Taguchi and response surface methodology (RSM) for modelling and optimization of the temperature produced during bone drilling. The drilling of bone is a common procedure in orthopaedic surgery to produce hole for screw insertion to fixate the fracture devices and implants. A major problem which is encountered during such a procedure is the increase in temperature of the bone due to the plastic deformation of chips and the friction between the bone and the drill. The increase in temperature can result in thermal osteonecrosis which may delay healing or reduce the stability and strength of the fixation. The drilling experiments are conducted on poly-methyl-meth-acrylate (PMMA) (as a substitute for bone) using Taguchi’s L27 experimental design technique. The cutting parameters used are drill diameter, feed rate and cutting speed. The optimum cutting parameters for minimum temperature are determined by using S/N ratios and the effect of individual cutting parameters on temperature produced is evaluated using analysis of variance (ANOVA). A second-order model is established between the drilling parameters and temperature using RSM. The experimental results show that the drill diameter is the most significant drilling parameter affecting the temperature during drilling followed by cutting speed and feed, respectively. The values predicted and the values obtained from experiment are fairly close, which indicates that the developed RSM model can be effectively used to predict the temperature in orthopaedic drilling.

4

Wysokociśnieniowe technologie hydrostrumieniowe w chirurgii ortopedycznej - badania nad cięciem kości

Borkowski P., Borkowski J., Cwanek J.

Inżynieria Maszyn

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2008

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R. 13, z. 1/2

97-103

PL

W artykule przedstawiono analizę warunków i możliwości stosowania wysokociśnieniowej strugi wodnej w różnych rodzajach metod chirurgicznych, a także szczegółowe warunki badań. Wśród nich istotną rolę odgrywa ciśnienie wody zmieniane w zakresie 80-200MPa, a także różnorodne materiały ścierne takie jak: biodegradowalne kryształki cukru i jego substytuty (dwusacharydy, dwumetyloanilina i heksanoheksaol) czy biokompatybilne ścierniwa metalowe (MgLi12Al1). Wielkość używanych ziaren ściernych zawiera się w zakresie #120 ... #46, a ich wydatek zmieniano w zakresie 1,50-3,25 g/s. Badania przeprowadzano na bydlęcych kościach trzody chlewnej, które stanowią prostą analogię do kości ludzkich. Wyniki badań wykazały, że największą skutecznością przecinania charakteryzuje się struga zawierająca proszek stopu magnezu, natomiast biodegradowalne ścierniwa w postaci różnych kryształków cukru i jego substytutów odznaczają się zaledwie 2-3 krotnie mniejszą skutecznością.

EN

Analysis of conditions and possibilities of high-pressure water jet usage lor surgery purposes and detailed research conditions are presented in the paper. Water pressure changed in the range of 80-200 MPa and different abrasive materials e.g.: bio-degraded sugar crystals and its substitutes or a bio-compatible metal abrasive (MgLi12Al1) takes main role in the process. Abrasive size at the range of #120 ... #46 are used lor while its consumption is equal to 1.50-3.25 g/s. All those researches were carried on cattle bones what can be analogical to human ones. Research results point put that the highest effectiveness is characteristic for cut using jet admixed with magnesium powder while bio-degraded abrasives of different sugar crystals and its substitutes give 2-3 times lower effects.

5

Chirurgia ortopedyczna wspomagana komputerowego

Krowicki P., Najwer-Świątek E., Krzysztoforski K., Kozak J.

Górnictwo Odkrywkowe

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2006

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R. 48, nr 5-6

213-217

PL

Chirurgia z wykorzystaniem nawigacji odgrywa dużą rolę w dzisiejszej ortopedii. Precyzja zabiegów z nawigacją jest wyższa, co umożliwia lepsze warunki ruchu pacjentowi. Dokładność systemu nawigacji optycznej z kamera na podczerwień określa wartość błędu RMS równa 0,25 mm. Systemy nawigacyjne wykorzystuje się w zabiegach wspomaganych obrazowaniem medycznym (tzw. nawigacja z obrazami) i zabiegach bez obrazów. Systemy nawigacyjne są stosowane w różnego typu zabiegach ortopedycznych, na przykład alloplastyce biodra i kolana, osteotomii czy rekonstrukcji więzadła krzyżowego przedniego. W przyszłości zastosowanie nawigacji w zabiegach stanie się popularniejsze. Metody obrazowania nie będą jednak pominięte. Umożliwiają one indywidualne planowanie zabiegu dla danego pacjenta. Z tego względu ultrasonografia, będąca bezpieczną metodą obrazowania, powinna być rozwijana. Nawigacja jest stosowana w ortopedii nie tylko podczas zabiegów ortopedycznych. W niniejszej pracy zaprezentowano również zastosowanie systemu nawigacyjnego jako posturometru. Taka metoda jest bardzo użyteczna na przykład w diagnozowaniu skolioz.

EN

Computer aided surgery with use of navigation system provides very good precision. This precision is about 0,25 mm. Furthermore application of navigation system enables both CT-free surgery planning and image-aided method. Navigation systems are used in many types of surgery, like: hip and knee arthoplasty, osteotomy and anterior crucial ligaments reconstruction.