Abstract This paper proposes a detection method to identify the drill bit position during assisted bone drilling. A platform has been developed to support the surgeon in the planning of the drilling path. Albeit constrained along a fixed trajectory, the advancement of the drilling tool is manual, in order to preserve the natural haptic perception of the surgeon, who remains in charge of modulating the drilling force and the feeding rate according to the position of the drill bit in the bone. This paper describes a custom drill, embedded with force and position sensors, which allows the evaluation of a new parameter, referred to as Average Impedance (AI), that is related to the mechanical properties of the tissues in contact with the drill bit. An algorithm for layer identification has been implemented based on the variability of the AI signal. In perspective, the AI can provide the surgeon with additional information about the position of the drill bit in the bone, in order to increase the safety level of the procedure. The algorithm has been tested ex-vivo on swine bones. The tests demonstrated a reliability better than 80% in the discrimination of bone tissues.

中文翻译：

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手术钻孔过程中通过骨组织识别定位钻孔工具位置

摘要 本文提出了一种辅助骨钻孔过程中识别钻头位置的检测方法。已经开发了一个平台来支持外科医生规划钻孔路径。尽管沿固定轨迹受到限制，但钻孔工具的推进是手动的，以保持外科医生的自然触觉感知，他仍然负责根据钻头的位置调节钻孔力和进给速率骨头。本文介绍了一种嵌入了力和位置传感器的定制钻头，它允许评估一个新参数，称为平均阻抗 (AI)，该参数与与钻头接触的组织的机械特性有关。基于 AI 信号的可变性，实现了层识别算法。从角度来看，人工智能可以为外科医生提供有关钻头在骨骼中位置的额外信息，以提高手术的安全水平。该算法已经在猪骨上进行了体外测试。测试证明在区分骨组织方面的可靠性优于 80%。