Abstract
In conventional core decompression of osteonecrosis, surgeons cannot successfully reach the whole area of the femoral head due to rigidity of the instruments currently used. To address this issue, we present design and fabrication of a novel steerable drill using a continuum dexterous manipulator (CDM) and two different flexible cutting tools passing through the lumen of the CDM. A set of experiments investigated functionality and efficiency of the curved-drilling approach and the flexible tools on simulated cancellous bone. Geometry of the cutter head, rotational and feed velocity of the tool, and pulling tension of the CDM cables have been identified as the effective curved-drilling parameters. Considering these parameters, we investigated drilling trajectory, contact force, and mass removal for various combinations of feed-velocities (0.05, 0.10, and 0.15 mm/s) and cable tensions (6, 10, 15, and 25 N) with constant rotational speed of 2250 r/min. Results show that: first, pulling tension of the cable is the most dominant parameter affecting the curved-drilling trajectory; and second, the proposed steerable drill is able to achieve 40° bend without buckling. Based on these results we developed a method for planning drill trajectories and successfully verified abilities for S-shape and multiple-branch drilling. The verification experiments were performed on both simulated and human cadaveric bones.
| Original language | English (US) |
|---|---|
| Article number | 7855629 |
| Pages (from-to) | 1480-1487 |
| Number of pages | 8 |
| Journal | IEEE Robotics and Automation Letters |
| Volume | 2 |
| Issue number | 3 |
| DOIs | |
| State | Published - Jul 1 2017 |
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Keywords
- Continuum manipulator
- core decompression
- curved-drilling
- medical robotics
ASJC Scopus subject areas
- Control and Systems Engineering
- Human-Computer Interaction
- Biomedical Engineering
- Mechanical Engineering
- Control and Optimization
- Artificial Intelligence
- Computer Science Applications
- Computer Vision and Pattern Recognition
Cite this
A Curved-Drilling Approach in Core Decompression of the Femoral Head Osteonecrosis Using a Continuum Manipulator. / Alambeigi, Farshid; Wang, Yu; Sefati, Shahriar; Gao, Cong; Murphy, Ryan J.; Iordachita, Iulian; Taylor, Russell H; Khanuja, Harpal S; Armand, Mehran.
In: IEEE Robotics and Automation Letters, Vol. 2, No. 3, 7855629, 01.07.2017, p. 1480-1487.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - A Curved-Drilling Approach in Core Decompression of the Femoral Head Osteonecrosis Using a Continuum Manipulator
AU - Alambeigi, Farshid
AU - Wang, Yu
AU - Sefati, Shahriar
AU - Gao, Cong
AU - Murphy, Ryan J.
AU - Iordachita, Iulian
AU - Taylor, Russell H
AU - Khanuja, Harpal S
AU - Armand, Mehran
PY - 2017/7/1
Y1 - 2017/7/1
N2 - In conventional core decompression of osteonecrosis, surgeons cannot successfully reach the whole area of the femoral head due to rigidity of the instruments currently used. To address this issue, we present design and fabrication of a novel steerable drill using a continuum dexterous manipulator (CDM) and two different flexible cutting tools passing through the lumen of the CDM. A set of experiments investigated functionality and efficiency of the curved-drilling approach and the flexible tools on simulated cancellous bone. Geometry of the cutter head, rotational and feed velocity of the tool, and pulling tension of the CDM cables have been identified as the effective curved-drilling parameters. Considering these parameters, we investigated drilling trajectory, contact force, and mass removal for various combinations of feed-velocities (0.05, 0.10, and 0.15 mm/s) and cable tensions (6, 10, 15, and 25 N) with constant rotational speed of 2250 r/min. Results show that: first, pulling tension of the cable is the most dominant parameter affecting the curved-drilling trajectory; and second, the proposed steerable drill is able to achieve 40° bend without buckling. Based on these results we developed a method for planning drill trajectories and successfully verified abilities for S-shape and multiple-branch drilling. The verification experiments were performed on both simulated and human cadaveric bones.
AB - In conventional core decompression of osteonecrosis, surgeons cannot successfully reach the whole area of the femoral head due to rigidity of the instruments currently used. To address this issue, we present design and fabrication of a novel steerable drill using a continuum dexterous manipulator (CDM) and two different flexible cutting tools passing through the lumen of the CDM. A set of experiments investigated functionality and efficiency of the curved-drilling approach and the flexible tools on simulated cancellous bone. Geometry of the cutter head, rotational and feed velocity of the tool, and pulling tension of the CDM cables have been identified as the effective curved-drilling parameters. Considering these parameters, we investigated drilling trajectory, contact force, and mass removal for various combinations of feed-velocities (0.05, 0.10, and 0.15 mm/s) and cable tensions (6, 10, 15, and 25 N) with constant rotational speed of 2250 r/min. Results show that: first, pulling tension of the cable is the most dominant parameter affecting the curved-drilling trajectory; and second, the proposed steerable drill is able to achieve 40° bend without buckling. Based on these results we developed a method for planning drill trajectories and successfully verified abilities for S-shape and multiple-branch drilling. The verification experiments were performed on both simulated and human cadaveric bones.
KW - Continuum manipulator
KW - core decompression
KW - curved-drilling
KW - medical robotics
UR - http://www.scopus.com/inward/record.url?scp=85034744998&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85034744998&partnerID=8YFLogxK
U2 - 10.1109/LRA.2017.2668469
DO - 10.1109/LRA.2017.2668469
M3 - Article
AN - SCOPUS:85034744998
VL - 2
SP - 1480
EP - 1487
JO - IEEE Robotics and Automation Letters
JF - IEEE Robotics and Automation Letters
SN - 2377-3766
IS - 3
M1 - 7855629
ER -