Power analysis of robotic medical drill with different control approaches

Abstract

Increasing the efficiency of the systems used in surgical operations has become an importantissue. Especially in orthopedic surgery, many surgical systems and instruments are used toreduce the workload of surgeons and increase the success of the operation. Surgical drills,which are one of these systems used in orthopedic surgery, are used in operations such asdrilling, cutting and carving in various interventions. Cases such as drill sensitivity andstability are critical to operational success and patient health. In this study, an orthopedic drilldesign that can be added to a linear motion module or a 6-axis robot manipulator has beenrealized. Linear Quadratic Regulator (LQR), which is one of the optimal controller methods,Proportional Integral (PI) Controller, which is one of the classical controller methods andModel Predictive Controller (MPC) systems from modern controller systems are designed toperform speed control task of the surgical drill. A drill integrated into the robot manipulatorfor a constant drilling speed of 120 rad/sec and a robot manipulator were used to provideconstant feed rate (1 mm/s) and to drill holes at constant intervals during the drillingexperiments. Power analysis is performed in real-time in bone drilling operations for threecontrollers. Current, and voltage information during drilling are recorded simultaneously inthe experimental setup. In particular, it has been observed that the power signal and the forceinformation of the bone in different layers are proportional.