CEIT and TECNUN, University of Navarra, Paseo Manuel Lardizábal 15, 20018 San Sebastián, Spain.
Comput Methods Programs Biomed. 2016 Jan;123:150-8. doi: 10.1016/j.cmpb.2015.10.003. Epub 2015 Oct 22.
Bone drilling is a common procedure in many types of surgeries, including orthopedic, neurological and otologic surgeries. Several technologies and control algorithms have been developed to help the surgeon automatically stop the drill before it goes through the boundary of the tissue being drilled. However, most of them rely on thrust force and cutting torque to detect bone layer transitions which has many drawbacks that affect the reliability of the process. This paper describes in detail a bone-drilling algorithm based only on the position control of the drill bit that overcomes such problems and presents additional advantages. The implication of each component of the algorithm in the drilling procedure is analyzed and the efficacy of the algorithm is experimentally validated with two types of bones.
骨钻是许多类型手术中的常见程序，包括矫形、神经和耳科手术。已经开发了几种技术和控制算法来帮助外科医生在钻头穿过被钻组织的边界之前自动停止钻头。然而，它们中的大多数都依赖于推力和切削扭矩来检测骨层的过渡，这有许多缺点会影响到这个过程的可靠性。本文详细描述了一种仅基于钻头位置控制的骨钻算法，该算法克服了这些问题并具有其他优点。分析了算法在钻孔过程中每个组件的含义，并通过两种类型的骨头对算法的有效性进行了实验验证。
