Automatic bone drilling using a novel robot in orthopedic trauma surgery

Rumen Kastelov, George Boiadjiev, Tony Boiadjiev, Kamen Delchev, Kazimir Zagurski, Boyko Gueorguiev


Background: Currently, applications of robotized systems in orthopedic trauma surgery steadily increase due to their functional abilities facilitating surgeon skills. The aim of this study is to present the functional advantages of a recently developed robot for bone drilling.

Methods: Ex-vivo experiments were performed on fresh porcine and bovine bones, as well as on fresh and embalmed human bones such as femora, vertebrae and rips, by the use of the robot for bone drilling to identify diverse control parameters and analyse thrust force and drill bit temperature during drilling.

Results: Experimental data during drilling is shown, control algorithms are described and bone drilling modes are characterized. Maximal values of thrust force and temperature are detected. Controlling thrust force seems to be the proper way to reduce force resistance and hence temperature during drilling. In automatic drilling mode, preliminary defined channel depth is drilled with accuracy of 0.1 mm, and far cortex end recognition is proved to work reliably for automatic stop with minimal controlled soft tissue penetration. Cortex and bone marrow thickness are measured and analysed in real time.

Conclusion: The bone drilling robot is programmed to follow with high accuracy parameters defined by the surgeon. Enhancing surgeon’s freedom and responsibility to make decisions, it can perform precise manipulations, decreasing the influence of subjective factors and increasing patient’s safety.

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Journal of Biomedical Engineering and Informatics

ISSN 2377-9381(Print)  ISSN 2377-939X(Online)

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