Wavelet-based control of penetration in a mechatronic drill for orthopaedic surgery

Wavelet theory is a very powerful tool for the analysis and synthesis of signals. In particular, the Haar basis is adopted, the computational effort required by the wavelet transform, is not high and thus suitable for real-time implementations even when low computing power is available. We investigate the application of a wavelet-based controller to a mechatronic drill for orthopaedic surgery. The penetration velocity of the drill is generated on the basis of the wavelet analysis of the thrust force signal and the controller is capable of fulfilling three different tasks corresponding to different specifications of the hole to be done in a long bone. Results from real experimental data are presented and discussed.