TY - GEN
T1 - Multi functional drill incorporating linear motor for haptic surgical instrument and simulator
AU - Matsunaga, Takuya
AU - Shimono, Tomoyuki
AU - Ohnishi, Kouhei
AU - Takano, Shunya
AU - Kobayashi, Hironao
AU - Yagi, Mitsuru
AU - Nakamura, Masaya
N1 - Funding Information:
ACKNOWLEDGMENT This research was supported by AMED under Grant Number JP20im0210818.
Publisher Copyright:
© 2021 IEEE.
PY - 2021/3/7
Y1 - 2021/3/7
N2 - In orthopedic surgery, tasks to cut the vertebra by surgical drills involve the risk of the spinal cord injury. Since the spinal cord injury causes motor and sensory disorder to patients, orthopedists who perform spine surgery must have skills to achieve tasks using surgical drills. Although robotic technologies is being applied to orthopedic surgical operations, support for surgeons in delicate tasks requiring surgeon's skills is insufficient. In this study, a multi functional drill available for both a surgical instrument and a simulator is presented. A linear motor incorporated in the proposed device used as a surgical instrument provides support for operators, while measuring position information and estimating force information. Furthermore, environmental information can be abstracted by haptic information such as position and force information. Virtual environment reproduced by the environmental information is presented by the proposed device used as a simulator. The feasibility of the multi functional drill is confirmed by utilizing functions as a surgical instrument and a simulator.
AB - In orthopedic surgery, tasks to cut the vertebra by surgical drills involve the risk of the spinal cord injury. Since the spinal cord injury causes motor and sensory disorder to patients, orthopedists who perform spine surgery must have skills to achieve tasks using surgical drills. Although robotic technologies is being applied to orthopedic surgical operations, support for surgeons in delicate tasks requiring surgeon's skills is insufficient. In this study, a multi functional drill available for both a surgical instrument and a simulator is presented. A linear motor incorporated in the proposed device used as a surgical instrument provides support for operators, while measuring position information and estimating force information. Furthermore, environmental information can be abstracted by haptic information such as position and force information. Virtual environment reproduced by the environmental information is presented by the proposed device used as a simulator. The feasibility of the multi functional drill is confirmed by utilizing functions as a surgical instrument and a simulator.
KW - Acceleration control
KW - Motion control
KW - Orthopedic surgery
KW - Simulator
KW - Surgical drill
UR - http://www.scopus.com/inward/record.url?scp=85104107709&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=85104107709&partnerID=8YFLogxK
U2 - 10.1109/ICM46511.2021.9385623
DO - 10.1109/ICM46511.2021.9385623
M3 - Conference contribution
AN - SCOPUS:85104107709
T3 - 2021 IEEE International Conference on Mechatronics, ICM 2021
BT - 2021 IEEE International Conference on Mechatronics, ICM 2021
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2021 IEEE International Conference on Mechatronics, ICM 2021
Y2 - 7 March 2021 through 9 March 2021
ER -