*2.2.2 Functional characteristics*

Our Orthopedic Drilling Robot has two working modes: manual and automatic. In manual regime it is like a usual drilling device. The rotational speed is regulated by potentiometer in the range 0–1000 rpm.

**139**

**Figure 6.**

*hole with a 1.5 depth in [mm].*

**Figure 4.**

**Figure 5.**

*Orthopedic Bone Drilling Robot ODRO: Basic Characteristics and Areas of Applications*

*Fixed depth* - drilling of a hole with preliminary set depth of the hole in *mm*;

• Cortex II Full Drill – bicortical drilling and automatic stop after second cortex

• Cortex II Find – drill bit detection the far cortex wall from inside and stop

• Cortex II Drill – drilling through the near (first) cortex and partially drilling the far (second) one, making a hole with a predetermined depth in [mm].

The working modes are set by the surgeon using four buttons and a potentiometer in combination with a display (**Figures 4**–**6**). Also it gives information in real time about the duration of the drilling process and about the operation result at the

The result is presented on the display after drilling manipulation. The second row of the display screen (**Figure 7**) shows: first number - the thickness of the near cortex (Cortex I); second number - the thickness of the far cortex (Cortex II); third number - the depth of the hole. The second row in **Figure 8** in the same manner shows the thickness of the near cortex (first number), the distance between both

*"Cortex II full drill" mode - bicortical drilling and automatic stop after second cortex end registration.*

*"Cortex II find" mode - drill bit detection the far cortex wall from inside and stop automatically.*

*"Cortex II drill" mode - drilling through the near (first) cortex and partially the far (second) one, making a* 

The automatic working can be separated in three sub-modes:

The latter mode (*Cortex II)* in turn supports three sub-modes:

end of the drilling. The drilling is realized with an accuracy of 0.1 mm.

cortices (marrow) and the depth of the hole (third number).

*DOI: http://dx.doi.org/10.5772/intechopen.96768*

end registration

automatically.

*Cortex I* – first cortex (unicortical) drilling; *Cortex II* – both cortices (bicortical) drilling. *Orthopedic Bone Drilling Robot ODRO: Basic Characteristics and Areas of Applications DOI: http://dx.doi.org/10.5772/intechopen.96768*

The automatic working can be separated in three sub-modes: *Fixed depth* - drilling of a hole with preliminary set depth of the hole in *mm*; *Cortex I* – first cortex (unicortical) drilling; *Cortex II* – both cortices (bicortical) drilling. The latter mode (*Cortex II)* in turn supports three sub-modes:


The working modes are set by the surgeon using four buttons and a potentiometer in combination with a display (**Figures 4**–**6**). Also it gives information in real time about the duration of the drilling process and about the operation result at the end of the drilling. The drilling is realized with an accuracy of 0.1 mm.

The result is presented on the display after drilling manipulation. The second row of the display screen (**Figure 7**) shows: first number - the thickness of the near cortex (Cortex I); second number - the thickness of the far cortex (Cortex II); third number - the depth of the hole. The second row in **Figure 8** in the same manner shows the thickness of the near cortex (first number), the distance between both cortices (marrow) and the depth of the hole (third number).

#### **Figure 4.**

*Latest Developments in Medical Robotics Systems*

**2.2 Technical data and functional characteristics**

*2.2.1 Technical data of the robotized surgical drill*

• drill speed (rotation speed) – 0-1000 rpm

• feed rate (translation speed) – 0 – 6 mm/s

• real time depth measurement of the hole depth

• auto-stop after the end of the far (second) cortex

• drill (thrust) force – up to 120 N in the feed rate range 0–6 mm/s

The following indications can be seen on the control/power block:

• minimal drill bit penetration after the end of the far (second) cortex in the

Control systems give information for the drilling execution, for successful end

Our Orthopedic Drilling Robot has two working modes: manual and automatic. In manual regime it is like a usual drilling device. The rotational speed is regulated

• drill torque – 1.66 Nm in the drill speed range 0–1000 rpm

• weight – 2.3 kg

• precision – 0.1 mm

range of 0 – 1 mm

• emergency indication

• drilling mode buttons

*2.2.2 Functional characteristics*

• digital display

• confirm button

• feed rate control during drilling

of the task and for emergency situation.

by potentiometer in the range 0–1000 rpm.

• working regime

• "hand"

• automatic

• working zone – 0 – 100 mm

module, to change and update the programs and to transfer the information between

the control module and PC while the drilling is executed in real time.

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*"Cortex II full drill" mode - bicortical drilling and automatic stop after second cortex end registration.*

#### **Figure 5.**

*"Cortex II find" mode - drill bit detection the far cortex wall from inside and stop automatically.*

#### **Figure 6.**

*"Cortex II drill" mode - drilling through the near (first) cortex and partially the far (second) one, making a hole with a 1.5 depth in [mm].*

#### **Figure 7.**

*Information displayed after "Cortex II Full" drill mode.*

### **Figure 8.**

*Information displayed after "Cortex II Find" mode.*
