TY - GEN
T1 - A Steerable Surgical Drill Based on a Push-Pull Linkage Mechanism for Grinding Operations in Constrained Bony Cavity Environments
AU - Wu, Xipeng
AU - Qian, Chao
AU - Diao, Jinpeng
AU - Duan, Xingguang
AU - Li, Changsheng
N1 - Publisher Copyright:
© 2024 Copyright held by the owner/author(s).
PY - 2025/1/18
Y1 - 2025/1/18
N2 - Surgical drills are crucial tools in orthopedic surgery. However, traditional rigid drill tools are often inadequate for bone tissue grinding operations in constrained bony cavity environments such as spinal endoscopy surgeries and arthroscopy surgeries. To address this issue, we propose a steerable surgical drill based on a push-pull linkage structure with 3 degrees of freedom(DOFs), enabling dexterous grinding operations in confined bony cavity environments. The mechanism has an outer diameter of 4.5 mm, with a 3.5 mm diameter spherical drill bit mounted at the head. We developed a kinematic model for the flexible push-pull linkage mechanism and tested its load capacity under 300g and 500g conditions. Additionally, we evaluated the grinding capability of the surgical drill in a bent state using a spine model.
AB - Surgical drills are crucial tools in orthopedic surgery. However, traditional rigid drill tools are often inadequate for bone tissue grinding operations in constrained bony cavity environments such as spinal endoscopy surgeries and arthroscopy surgeries. To address this issue, we propose a steerable surgical drill based on a push-pull linkage structure with 3 degrees of freedom(DOFs), enabling dexterous grinding operations in confined bony cavity environments. The mechanism has an outer diameter of 4.5 mm, with a 3.5 mm diameter spherical drill bit mounted at the head. We developed a kinematic model for the flexible push-pull linkage mechanism and tested its load capacity under 300g and 500g conditions. Additionally, we evaluated the grinding capability of the surgical drill in a bent state using a spine model.
KW - Constrained Bony Cavity Environments
KW - Linkage Mechanism
KW - Surgical Drill
UR - http://www.scopus.com/inward/record.url?scp=85217871580&partnerID=8YFLogxK
U2 - 10.1145/3704558.3707102
DO - 10.1145/3704558.3707102
M3 - Conference contribution
AN - SCOPUS:85217871580
T3 - CFIMA 2024 - Proceedings of 2024 2nd International Conference on Frontiers of Intelligent Manufacturing and Automation
SP - 756
EP - 760
BT - CFIMA 2024 - Proceedings of 2024 2nd International Conference on Frontiers of Intelligent Manufacturing and Automation
PB - Association for Computing Machinery, Inc
T2 - 2nd International Conference on Frontiers of Intelligent Manufacturing and Automation, CFIMA 2024
Y2 - 9 August 2024 through 11 August 2024
ER -