*2.1.2 Driving system*

The drill bit rotation (0–1000 rpm) is realized by BLDC (Brushless Direct Current) motor "MAXON EC-4-pole 30" assuring 1.66 Nm torque (Maxon Motor AG, Shwaiz). These motor types have many advantages. Among them are better speed versus torque characteristics; high dynamic response; high efficiency; long operating life; noiseless operation; higher speed ranges; rugged construction etc. These features make the chosen motor useful for applications especially in cases where the space of work and the motor weight are critical factors.

**137**

1 mm for 4032 micro steps.

*2.1.3 Sensor system*

**Figure 3.**

range up to 200 N.

*2.1.4 Control system*

PID-regulator controls the BLDC motor.

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

The linear motion (0–100 mm) is driven by step motor type "43000–17" (Haydon Switch & Instrument Inc.) which can apply thrust force up to 120 N in velocity range 0–9 mm/s. It is stepper motor with embedded screw for linear motion. It has high precision at low speeds, small by size and realizes translation of

*The new assembly drawing and the numbers related to the main components: BLDC motor MAXON EC-4 pole 30 (number 3); step motor type 43000–17 (number 6) and force sensor LMB-A-200 N (number 8).*

The system has force feed-back which is assured by force sensor "MLP-25", "Transducer Techniques" having measurement range up to 120 N [19]. In the next version of the system this force sensor is replaced by "LMB-A-200 N (KYOWA)" [11] because it is more compact, lightweight (6 g), has low price and measurement

The control system is on the base of one axis stepper controller/driver TMCM-1110 (TRINAMIC, Hamburg, Germany). This module controls the linear motion and keeps the bone drilling process control program to be realized successfully. The servo controller/driver "1-Q-CE Amplifier DEC 50-5" with build-in speed

Terminals for connection with PC are also built-in in the control block. They give a possibility to re-program the software, which is recorded in the "TMCM-1110"

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

*Kinematic scheme of the mechanical structure.*

**Figure 2.**

**Figure 1.** *ODRO – Control block and handheld surgical drill.*

*Orthopedic Bone Drilling Robot ODRO: Basic Characteristics and Areas of Applications DOI: http://dx.doi.org/10.5772/intechopen.96768*

#### **Figure 2.** *Kinematic scheme of the mechanical structure.*

#### **Figure 3.**

*Latest Developments in Medical Robotics Systems*

**2.1 Basic subsystems of the ODRO**

handheld surgical drill (**Figure 1**).

*2.1.1 Mechanical system*

*2.1.2 Driving system*

is an error – the true is that they are telemanipulators.

They are necessary but not sufficient conditions. For example the control system

ODRO - Orthopedic Drilling Robot [11, 19] consists of control/power block and

Mechanical structure (surgical drill) with two degrees of freedom is proposed (**Figure 2**). It has one translation and one revolute joint with co-linear axes, where q1 and q2 are corresponding generalized coordinates. The new assembly drawing

Both actuators are mounted inside the drilling module. All parts of the mechanical module are made by stainless steel material for assuring the sterility requirements. The machine allows gas chemical sterilization before every manipulation.

The drill bit rotation (0–1000 rpm) is realized by BLDC (Brushless Direct Current) motor "MAXON EC-4-pole 30" assuring 1.66 Nm torque (Maxon Motor AG, Shwaiz). These motor types have many advantages. Among them are better speed versus torque characteristics; high dynamic response; high efficiency; long operating life; noiseless operation; higher speed ranges; rugged construction etc. These features make the chosen motor useful for applications especially in cases

which corresponds to the new construction is shown in **Figure 3**.

where the space of work and the motor weight are critical factors.

must be considered together with software and corresponding interface which looks after the connection and communication with environment. Moreover, the software must have possibilities for reprogramming the motion of the mechanical system concerning its positioning or trajectory tracking. And the most important thing – the system has to be autonomous one, i.e. it must be able to take decisions of its own. The last characteristic is not fulfilled for the objects operating under human being control. For instance, some people used to call them also as "robots" but that

**136**

**Figure 1.**

*ODRO – Control block and handheld surgical drill.*

*The new assembly drawing and the numbers related to the main components: BLDC motor MAXON EC-4 pole 30 (number 3); step motor type 43000–17 (number 6) and force sensor LMB-A-200 N (number 8).*

The linear motion (0–100 mm) is driven by step motor type "43000–17" (Haydon Switch & Instrument Inc.) which can apply thrust force up to 120 N in velocity range 0–9 mm/s. It is stepper motor with embedded screw for linear motion. It has high precision at low speeds, small by size and realizes translation of 1 mm for 4032 micro steps.

## *2.1.3 Sensor system*

The system has force feed-back which is assured by force sensor "MLP-25", "Transducer Techniques" having measurement range up to 120 N [19]. In the next version of the system this force sensor is replaced by "LMB-A-200 N (KYOWA)" [11] because it is more compact, lightweight (6 g), has low price and measurement range up to 200 N.

#### *2.1.4 Control system*

The control system is on the base of one axis stepper controller/driver TMCM-1110 (TRINAMIC, Hamburg, Germany). This module controls the linear motion and keeps the bone drilling process control program to be realized successfully.

The servo controller/driver "1-Q-CE Amplifier DEC 50-5" with build-in speed PID-regulator controls the BLDC motor.

Terminals for connection with PC are also built-in in the control block. They give a possibility to re-program the software, which is recorded in the "TMCM-1110"

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.
