Ortopedik Matkaplar İçin Bozucu Gözlemci Tabanlı Kemik Doku Değişim Tahmin Yaklaşımı Benzetimi

Günümüzde ortopedi, kulak burun boğaz gibi cerrahi alanlarda çeşitli operasyonlarda ortopedik matkaplar kullanılmaktadır. Ortopedik matkapların doku içerisindeki kat ettiği yol manuel olarak cerrahlar tarafından kontrol edilmektedir ve manuel kontrol sinir, doku gibi bölgelerde hasar oluşturma riskine yol açmaktadır. Çalışmamızda mevcut matkap tasarımlarına ve sorunlarına karşı yenilikçi bir model sunulmaktadır. Önerilen modelde yük torqueindeki değişim ve matkap ucundaki doku değişikliğinden kaynaklanan sürtünme kuvveti değişimi bozucu etki olarak ele alınmış, bu bozucu etkilerin gözlemlenmesine olanak sağlayan bir bozucu gözlemci geliştirilmiştir. Bozucu etkilerinin gözlemlenmesi, normal şartlarda ölçülemeyen yük torque değişimlerinin ve sürtünme katsayısının değişimini verdiğinden dolayı, delme esnasında doku değişiminin algılanmasına olanak sağlamaktadır. Önerilen yöntemi başarımı benzetim çalışmaları ile kanıtlanmıştır.

Anahtar Kelimeler:

Ortopedik Matkap, Bozucu Gözlemci, Kemik Delme

Simulation of Disturbance Observer-Based Bone Tissue Change Prediction Approach for Orthopedic Drills

Orthopedic drills are currently used for various operations in surgical fields such as orthopedics, ear, nose, and throat surgery. The path that orthopedic drills travel through the tissue is controlled manually by surgeons, and manual control leads to the risk of damaging areas such as nerves and tissues. In our study, an innovative approach is presented against existing drill designs and breakthrough detection problems. In the proposed model, the change in the load torque and the change in friction force caused by the tissue change in the drilling path are considered as a disturbance effect, and a disturbance observer has been developed that allows these disturbances to be observed. Observation of the disturbance effects allows the perception of the hardness of tissue change during drilling since it gives the change of load torque changes and friction coefficient, which cannot be measured under normal operation. The performance of the proposed approach has been proven by simulation study.

Keywords:

Orthopedic Drill, Disturbance Observer, Bone Drilling,

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