Design of a hand-held robotized module for bone drilling and cutting in orthopedic surgery

摘要

Bone drilling and cutting procedures are widely used in orthopedic surgery. Relatively high forces and temperatures experienced during bone drilling and cutting can cause significant damage to the bone as necrosis, widening of holes, breaking the tendons or blood vessels, which can make patient recovery long and painful. This paper presents a concept design of a hand-held robotized orthopedic system for bone drilling and cutting manipulations. The system consists of two executive modules for drilling and cutting, respectively. : bone drilling module detecting bone breakthrough is developed. It can monitor time, linear velocity, angular velocity, resistant force, depth of penetration and temperature during the drilling process. A design concept of a robotized oscillating saw for bone cutting is also presented. The saw is intended to perform cutting operations with preliminary setting of depth and stop automatically after the cutting process is completed. Cutting conditions will automatically change in accordance with bone density. Dynamical model using graph theory and the orthogonality principle is provided. CAD models of the prototype of the robotized bone cutting module are presented.