Telerobotic-assisted bone-drilling system using bilateral control with feed operation scaling and cutting force scaling
Identifieur interne : 002171 ( Main/Merge ); précédent : 002170; suivant : 002172Telerobotic-assisted bone-drilling system using bilateral control with feed operation scaling and cutting force scaling
Auteurs : Yusuke Kasahara [Japon] ; Hiromasa Kawana [Japon] ; Shin Usuda [Japon] ; Kouhei Ohnishi [Japon]Source :
- The International Journal of Medical Robotics + Computer Assisted Surgery [ 1478-5951 ] ; 2012.
Abstract
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.
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.
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.
The proposed telerobotic-assisted drilling system achieved precise manipulation of the drill feed and vivid feedback from the cutting force. Copyright © 2012 John Wiley & Sons, Ltd.
Url:
DOI: 10.1002/rcs.457
PubMed: 22271710
PubMed Central: 3440596
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Telerobotic-assisted bone-drilling system using bilateral control with feed operation scaling and cutting force scaling</title><author><name sortKey="Kasahara, Yusuke" sort="Kasahara, Yusuke" uniqKey="Kasahara Y" first="Yusuke" last="Kasahara">Yusuke Kasahara</name><affiliation wicri:level="1"><nlm:aff id="au1"><institution>Department of System Design Engineering, Keio University</institution><addr-line>Yokohama, Japan</addr-line></nlm:aff><country xml:lang="fr">Japon</country><wicri:regionArea>Yokohama</wicri:regionArea></affiliation></author><author><name sortKey="Kawana, Hiromasa" sort="Kawana, Hiromasa" uniqKey="Kawana H" first="Hiromasa" last="Kawana">Hiromasa Kawana</name><affiliation wicri:level="1"><nlm:aff id="au2"><institution>Department of Dentistry and Oral Surgery, Keio University</institution><addr-line>Tokyo, Japan</addr-line></nlm:aff><country xml:lang="fr">Japon</country><wicri:regionArea>Tokyo</wicri:regionArea></affiliation></author><author><name sortKey="Usuda, Shin" sort="Usuda, Shin" uniqKey="Usuda S" first="Shin" last="Usuda">Shin Usuda</name><affiliation wicri:level="1"><nlm:aff id="au2"><institution>Department of Dentistry and Oral Surgery, Keio University</institution><addr-line>Tokyo, Japan</addr-line></nlm:aff><country xml:lang="fr">Japon</country><wicri:regionArea>Tokyo</wicri:regionArea></affiliation></author><author><name sortKey="Ohnishi, Kouhei" sort="Ohnishi, Kouhei" uniqKey="Ohnishi K" first="Kouhei" last="Ohnishi">Kouhei Ohnishi</name><affiliation wicri:level="1"><nlm:aff id="au1"><institution>Department of System Design Engineering, Keio University</institution><addr-line>Yokohama, Japan</addr-line></nlm:aff><country xml:lang="fr">Japon</country><wicri:regionArea>Yokohama</wicri:regionArea></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">22271710</idno><idno type="pmc">3440596</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3440596</idno><idno type="RBID">PMC:3440596</idno><idno type="doi">10.1002/rcs.457</idno><date when="2012">2012</date><idno type="wicri:Area/Pmc/Corpus">001F86</idno><idno type="wicri:Area/Pmc/Curation">001F86</idno><idno type="wicri:Area/Pmc/Checkpoint">001545</idno><idno type="wicri:Area/Ncbi/Merge">001E01</idno><idno type="wicri:Area/Ncbi/Curation">001E01</idno><idno type="wicri:Area/Ncbi/Checkpoint">001E01</idno><idno type="wicri:doubleKey">1478-5951:2012:Kasahara Y:telerobotic:assisted:bone</idno><idno type="wicri:Area/Main/Merge">002171</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Telerobotic-assisted bone-drilling system using bilateral control with feed operation scaling and cutting force scaling</title><author><name sortKey="Kasahara, Yusuke" sort="Kasahara, Yusuke" uniqKey="Kasahara Y" first="Yusuke" last="Kasahara">Yusuke Kasahara</name><affiliation wicri:level="1"><nlm:aff id="au1"><institution>Department of System Design Engineering, Keio University</institution><addr-line>Yokohama, Japan</addr-line></nlm:aff><country xml:lang="fr">Japon</country><wicri:regionArea>Yokohama</wicri:regionArea></affiliation></author><author><name sortKey="Kawana, Hiromasa" sort="Kawana, Hiromasa" uniqKey="Kawana H" first="Hiromasa" last="Kawana">Hiromasa Kawana</name><affiliation wicri:level="1"><nlm:aff id="au2"><institution>Department of Dentistry and Oral Surgery, Keio University</institution><addr-line>Tokyo, Japan</addr-line></nlm:aff><country xml:lang="fr">Japon</country><wicri:regionArea>Tokyo</wicri:regionArea></affiliation></author><author><name sortKey="Usuda, Shin" sort="Usuda, Shin" uniqKey="Usuda S" first="Shin" last="Usuda">Shin Usuda</name><affiliation wicri:level="1"><nlm:aff id="au2"><institution>Department of Dentistry and Oral Surgery, Keio University</institution><addr-line>Tokyo, Japan</addr-line></nlm:aff><country xml:lang="fr">Japon</country><wicri:regionArea>Tokyo</wicri:regionArea></affiliation></author><author><name sortKey="Ohnishi, Kouhei" sort="Ohnishi, Kouhei" uniqKey="Ohnishi K" first="Kouhei" last="Ohnishi">Kouhei Ohnishi</name><affiliation wicri:level="1"><nlm:aff id="au1"><institution>Department of System Design Engineering, Keio University</institution><addr-line>Yokohama, Japan</addr-line></nlm:aff><country xml:lang="fr">Japon</country><wicri:regionArea>Yokohama</wicri:regionArea></affiliation></author></analytic><series><title level="j">The International Journal of Medical Robotics + Computer Assisted Surgery</title><idno type="ISSN">1478-5951</idno><idno type="eISSN">1478-596X</idno><imprint><date when="2012">2012</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><sec><title>Background</title><p>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.</p></sec><sec><title>Methods</title><p>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.</p></sec><sec><title>Results</title><p>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.</p></sec><sec><title>Conclusion<bold>s</bold></title><p>The proposed telerobotic-assisted drilling system achieved precise manipulation of the drill feed and vivid feedback from the cutting force. 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