Controlling the penetration of flexible bone tissue using the stapedotomy microdrill

Author:

Brett P N1,Baker D A2,Taylor R1,Griffiths M V3

Affiliation:

1. University of Aston School of Engineering and Applied Science Birmingham, UK

2. Atkins Bristol, UK

3. St Michael's Hospital Department of Otolaryngology Bristol, UK

Abstract

In this paper a surgical robotic system is described for microdrilling a stapedotomy. The stapedotomy procedure is a delicate operation that is challenging to achieve successfully owing to the fact that, under manual control, the surgeon is working at the thresholds of human perception and dexterity. The automated drilling system described in this paper is sensory guided along a single tool axis. Information on the state of the drilling process is derived from feed force and torque sensory data with respect to time and displacement. The information on the state of the process is used to select the strategy to move the drill bit along its trajectory in order to achieve a minimum level of protrusion of the drill bit beyond the far surface of the stapes footplate. The drilling system is able automatically to determine the unknowns of tissue thickness, hardness and flexibility. Detection of the onset of breakthrough, key to establishing the thickness, is by identification of features in the multiple sensory data that signify this condition. The system demonstrates acceptable performance in the laboratory with positional errors with respect to flexible target positions of approximately 20 μm.

Publisher

SAGE Publications

Subject

Mechanical Engineering,Control and Systems Engineering

Cited by 6 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Computational Prediction of Varied Feed Rates in Controlled Cortical Bone Drilling: A Bovine Animal Study;2023 30th National and 8th International Iranian Conference on Biomedical Engineering (ICBME);2023-11-30

2. Real-time spectral response guided smart femtosecond laser bone drilling;Optics and Lasers in Engineering;2020-05

3. In-vitro experimental study of histopathology of bone in vibrational drilling;Medical Engineering & Physics;2019-05

4. Frequency-Based Analysis of the Relationship between Cutting Force and CT Number for an Implant-Surgery-Teaching Robot;IEEJ Journal of Industry Applications;2017

5. A sensory-guided surgical micro-drill;Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science;2010-04-27

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