Teleoperated Orthopedic Drill System Presenting Haptic Information Extended by Bur Tip Position

In orthopedic surgery, robotic technologies to assist surgeons operating surgical drills to cut bones are being de-veloped, since there is a risk to injure delicate tissues around bones. Penetration detection is useful for surgical drills to enhance safety. However, there is still a risk to damage delicate tissues, even if penetration is detected to stop drills. In this study, a teleoperated haptic drill system implementing a safety enhancement system which extends haptic sensation according to the end effector position is presented. The presented method is composed of the object detection phase and the operator assist phase. In the object detection phase, the position and posture of an object are acquired by the drill system which has the shape model of the object. In the operator assist phase, haptic sensation is extended based on the acquired object information to prevent penetration of the object, while the state of the controller of the drill system is visualized by CG images created by a cutting simulator. The feasibility of the method is confirmed by cutting a pseudo bone.