DESIGN OF HAPTIC SIMULATOR DEVICE FOR BONE DRILLING TRAINING

• Main Author: 'Abdan Syakuro, Ahmad
• Format: Final Project
• Language: Indonesia
• Online Access: https://digilib.itb.ac.id/gdl/view/84803
• Institution: Institut Teknologi Bandung

Pedicle screw insertion is the process of placing screws into the spine to fix fractures. Before inserting the screws, it is necessary to perform bone drilling procedure. This procedure requires skill from surgeons, and without proper skills, further injuries can occur during bone drilling. To prepare surgeons for spinal drilling, a training tool is needed. This research focuses on designing a device that can simulate the haptik sensations of spinal drilling. These haptik sensations are felt by a control system that reads the user's movements and torque, and then counteracts them with specific movements and torque to create a realistic drilling experience. Using encoders and current sensors as sensors and DC motors as actuators, the NI USB-6216 controls the system's response to ensure the haptik simulator device responds accurately to the given inputs. In this research, tests were conducted to observe the control system's response to step inputs and zero inputs with disturbances from user’s hand movements and torque. The step input tests showed that the device could provide a quick response, with a settling time of 0.7 seconds and 2% overshoot when using position as the process variable. Tests with disturbances from user’s hand movement also showed that the device could counteract the user's hand movements.