A New Breakthrough Detection Method for Bone Drilling in Robotic Orthopedic Surgery with Closed-Loop Control Approach

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dc.authoridTORUN, YUNIS/0000-0002-6187-0451
dc.authoridOzturk, Ahmet/0000-0002-2102-0276
dc.contributor.authorTorun, Yunis
dc.contributor.authorOzturk, Ahmet
dc.date.accessioned2024-10-26T18:03:31Z
dc.date.available2024-10-26T18:03:31Z
dc.date.issued2020
dc.departmentSivas Cumhuriyet Üniversitesi
dc.description.abstractBreakthrough detection is a crucial task to reduce the risks of damaging soft tissue bone drilling operations during orthopedic surgery. Conventional drills are not equipped with this function while the recent literature has offered this capability with high cost and complex modification needs. In this study, a new breakthrough detection approach based on closed-loop control characteristics of the drilling operation is proposed. A feature set containing closed-loop signals and force sensor data is created to train K-Nearest and Ensemble Classifier for breakthrough detection tasks with drilling the synthetic bone model and animal bone with a robot manipulator. The best accuracy of breakthrough detection with only closed-loop control signal attributes is achieved as 96.9 +/- 0.8% for the synthetic bone model and 98.1 +/- 0.2% for sheep femur bone. Breakthrough detection delay which included sampling and operation time of the method guarantees that the drill bit would stop with acceptable breakthrough range of 1.0413 mm. The proposed method can be used to detect breakthrough and also to estimate the state of the drill bit in robotic orthopedic bone drilling processes using only closed-loop signals so that it would be no need to use extra high-cost sensors.
dc.description.sponsorshipCumhuriyet University Scientific Research Grant Programme [M-736]
dc.description.sponsorshipThis work is supported by Cumhuriyet University Scientific Research Grant Programme with M-736 project code
dc.identifier.doi10.1007/s10439-019-02444-5
dc.identifier.endpage1229
dc.identifier.issn0090-6964
dc.identifier.issn1573-9686
dc.identifier.issue4
dc.identifier.pmid31897891
dc.identifier.scopus2-s2.0-85077565156
dc.identifier.scopusqualityQ2
dc.identifier.startpage1218
dc.identifier.urihttps://doi.org/10.1007/s10439-019-02444-5
dc.identifier.urihttps://hdl.handle.net/20.500.12418/28384
dc.identifier.volume48
dc.identifier.wosWOS:000505465400001
dc.identifier.wosqualityQ2
dc.indekslendigikaynakWeb of Science
dc.indekslendigikaynakScopus
dc.indekslendigikaynakPubMed
dc.language.isoen
dc.publisherSpringer
dc.relation.ispartofAnnals of Biomedical Engineering
dc.relation.publicationcategoryMakale - Uluslararası Hakemli Dergi - Kurum Öğretim Elemanı
dc.rightsinfo:eu-repo/semantics/closedAccess
dc.subjectBone drilling
dc.subjectBreakthrough detection
dc.subjectClosed-loop control
dc.subjectMachine learning
dc.titleA New Breakthrough Detection Method for Bone Drilling in Robotic Orthopedic Surgery with Closed-Loop Control Approach
dc.typeArticle

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