# US 2016/0354162 A1 · Drilling control system and drilling control method

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- Number: US 2016/0354162 A1
- Document ID: US20160354162A1
- Status: Published application
- Kind: A1
- Application number: 15/169,656
- Filed: 2016-05-31
- Published: 2016-12-08
- Earliest claimed: 2015-06-02
- Assignees: National Taiwan University
- Applicants: National Taiwan University
- Inventors: PING-LANG YEN; Ting-Ya Hsiao; Chih-Min Yang
- Web page: https://patentgrep.com/patent/US20160354162A1

## CPC

- A61B 34/20: Surgical navigation systems; Devices for tracking or guiding surgical instruments, e.g. for frameless stereotaxis
- A61B 17/1671: {for the spine}
- A61B 34/30: Surgical robots
- A61B 17/1703: {using imaging means, e.g. by X-rays}
- A61B 2017/00119: {alarm; indicating an abnormal situation}
- A61B 2034/2055: {Optical tracking systems}
- A61B 2034/2065: {Tracking using image or pattern recognition}
- A61B 2034/2072: {Reference field transducer attached to an instrument or patient}
- A61B 2034/304: {including a freely orientable platform, e.g. so called 'Stewart platforms'}
- A61B 2090/064: {for measuring force, pressure or mechanical tension}
- A61B 2090/066: {for measuring torque}
- A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D)

## Abstract

The present disclosure generally relates to the drilling control system and the drilling control method for surgical applications. The drilling control system may comprise a drilling device, a spatial sensor system and a control unit. The control unit may receive and store biomechanical information, mechanical information and spatial information to generate control output. With the present disclosure, the accuracy and safety of drilling process is greatly improved.

## Claims

### Claim 1

A drilling control system comprising:
a drilling device comprising a surgical tool, a drilling motor driving the surgical tool, a mechanical sensor detecting mechanical information, a robotic arm assembly receiving a control output and detecting spindle information, and an operation base coupled to the robotic arm assembly;
a control unit coupled to the drilling device and a spatial sensor system, wherein the control unit stores biomechanical information, generates drilling information according to the mechanical information received from the mechanical sensor, the spindle information from the drilling device and spatial information received from the spatial sensor system, calculates a discrepancy index according to the biomechanical information and the drilling information, and sends the control output to the drilling device according to the discrepancy index.

### Claim 2 (depends on 1)

The drilling control system of claim 1, wherein the discrepancy index is calculated according to cross correlation of the biomechanical information and the drilling information.

### Claim 3 (depends on 1)

The drilling control system of claim 1, wherein the discrepancy index is calculated according to cross correlation of the slopes of the biomechanical information and the drilling information.

### Claim 4 (depends on 1)

The drilling control system of claim 1, wherein the control output is an alarm signal.

### Claim 5 (depends on 1)

The drilling control system of claim 1, wherein the control output is a spindle speed control signal.

### Claim 6 (depends on 1)

The drilling control system of claim 1, wherein the control output is a motion control signal.

### Claim 7 (depends on 1)

The drilling control system of claim 1, wherein the mechanical sensor is a force/torque sensor coupled to the drilling motor.

### Claim 8 (depends on 1)

The drilling control system of claim 1, wherein the mechanical sensor is a joint force sensor coupled to the robotic assembly.

### Claim 9 (depends on 1)

The drilling control system of claim 1, wherein the mechanical sensor is a motor current sensor coupled to the robotic assembly.

### Claim 10 (depends on 1)

The drilling control system of claim 1, wherein the robotic assembly is a parallel manipulator.

### Claim 11 (depends on 7)

The drilling control system of claim 7, wherein the robotic assembly is a Stewart type platform.

### Claim 12

A drilling control method performed at a drilling control system, the method comprising:
detecting mechanical information at a mechanical sensor
receiving and storing, at the control unit, biomechanical information, mechanical information, spatial information and spindle information;
generating, at the control unit, drilling information according to the mechanical information the spatial information and the spindle information;
calculating, at the control unit, a discrepancy index according to the biomechanical information and the drilling information; and
sending, at the control unit, a control output to a drilling device according to the discrepancy index.

### Claim 13 (depends on 12)

The drilling control method of claim 12, wherein the discrepancy index is calculated according to cross correlation of the biomechanical information and the drilling information.

### Claim 14 (depends on 12)

The drilling control method of claim 12, wherein the discrepancy index is calculated according to cross correlation of the slopes of the biomechanical information and the drilling information.