Mechanical model of orthopaedic drilling for augmented-haptics-based training

Pourkand, Ashkan; Zamani, Naghmeh; Grow, David

doi:10.1016/j.compbiomed.2017.06.021

Cited by 15 publications

(4 citation statements)

References 14 publications

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“…The effect of drying should receive attention, because cooling plays an important role in determining the level of chip-evacuation force. Moreover, the study of Pourkand et al [34] suggests that the influence of bone density on the cutting force is considerable. These aspects will be considered in future work.…”

Section: Factors Affecting Prediction Accuracy Of Chip Cloggingmentioning

confidence: 99%

Modified Chip-Evacuation Force Modeling and Chip-Clogging Prediction in Drilling of Cortical Bone

Zhang

Bian

et al. 2019

IEEE Access

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Chip clogging is one of the fundamental issues faced by the dentists during the drilling of cortical bone. The chip clogging can lead to significant increase in temperature, thrust force and torque, and can even cause the drill bit to break. In this study, a modified chip-evacuation model to estimate the thrust force was developed for drilling of the cortical bone. First, the modified chip-evacuation force model with two parameters was developed based on the flute geometry. A set of drilling tests was conducted to calibrate the model parameters. Secondly, the parameter models were established as functions of spindle speed and feed, and the coefficients were then determined through nonlinear-regression analysis. The importance of cutting parameters on the model parameters was investigated via analysis of variance. Thirdly, the validity of the force model was analyzed by experimental results. Subsequently, based on the gradient of the chip-evacuation force, the chip-clogging prediction was conducted, and the prediction accuracy was assessed by the validation tests. Finally, the effect of cutting condition on the chip clogging was explored. The modified chip-evacuation force model proved to be an effective tool for predicting the thrust force, and the chip clogging could be estimated accurately with a relative error less than 10%. The spindle speed and the feed both had significant effects on the chip-evacuation force and chip clogging. The modified model could provide a better approach to finding how a pecking cycle can be implemented, and then, it can assist surgeons in selecting cutting conditions. INDEX TERMSChip clogging, chip-evacuation force, drilling of cortical bone, twist drill. NOMENCLATURE F z Chip-evacuation force. F z (0) Initial cutting force. λ Ratio between the lateral and axial pressure. D Drill diameter. A 0 Half flute area. µ f Coefficient of friction between the chip and the flute. µ w Coefficient of friction between the chip and the hole wall. l f Effective contact length of the chip element with the flute face. l h Effective contact length of the chip element with the flute heel. The associate editor coordinating the review of this manuscript and approving it for publication was Ming Luo .l w Effective contact length of the chip element with the hole wall. θ Angle between the flute face and the plane formed across the flute. z Dimensionless depth. z Hole depth. P Pressure intensity along the chip flow direction. κ, ξ Parameters of the chip-evacuation force model. F model Fitting value of the chip-evacuation force from the force model. F exp Processed thrust force from the drilling experiment. α 0 , α 1 , α 2 , α 3 Regression coefficients of κ model from the polynomial regression. α 0 , α 1 , α 2 , α 3 Regression coefficients of κ model from the logarithmic polynomial regression.

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Section: Factors Affecting Prediction Accuracy Of Chip Cloggingmentioning

confidence: 99%

Modified Chip-Evacuation Force Modeling and Chip-Clogging Prediction in Drilling of Cortical Bone

Zhang

Bian

et al. 2019

IEEE Access

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“…Sui et al divided the force of the drill bit into multiple areas, established a theoretical model of the drill bit in the process of bone drilling, and verified it in a three-stage experimental design [ 11 , 12 ]. Pourkand et al utilized augmented haptic feedback to simulate the anatomic variability in bone by generating clinically relevant force levels during orthopedic drilling through a predictive model informed by experimental data, achieving accurate force prediction and practical application using a customized Phantom Premium haptic device [ 13 ]. Li et al introduced the gray value of a CT image of bone tissue as a weight into the mechanical model of bone drilling and verified the accuracy of the mechanical model through experiments [ 14 ].…”

Section: Introductionmentioning

confidence: 99%

Force-Position Hybrid Compensation Control for Path Deviation in Robot-Assisted Bone Drilling

Li,

Zhong,

Yang

et al. 2023

Sensors

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Bone drilling is a common procedure in orthopedic surgery and is frequently attempted using robot-assisted techniques. However, drilling on rigid, slippery, and steep cortical surfaces, which are frequently encountered in robot-assisted operations due to limited workspace, can lead to tool path deviation. Path deviation can have significant impacts on positioning accuracy, hole quality, and surgical safety. In this paper, we consider the deformation of the tool and the robot as the main factors contributing to path deviation. To address this issue, we establish a multi-stage mechanistic model of tool–bone interaction and develop a stiffness model of the robot. Additionally, a joint stiffness identification method is proposed. To compensate for path deviation in robot-assisted bone drilling, a force-position hybrid compensation control framework is proposed based on the derived models and a compensation strategy of path prediction. Our experimental results validate the effectiveness of the proposed compensation control method. Specifically, the path deviation is significantly reduced by 56.6%, the force of the tool is reduced by 38.5%, and the hole quality is substantially improved. The proposed compensation control method based on a multi-stage mechanistic model and joint stiffness identification method can significantly improve the accuracy and safety of robot-assisted bone drilling.

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“…Haptic devices are capable of providing kinesthetic and tactile feedback, and are often used for training complex tasks such as dental procedures [5], orthopedic tasks [6], [7], teleoperation [8], and device assembly [9], [10]. Precise hardness perception is important to accomplish these tasks.…”

Section: Introductionmentioning

confidence: 99%

Masking Effects in Combined Hardness and Stiffness Rendering Using an Encountered-Type Haptic Display

Zamani,

Culbertson

2021

Preprint

Self Cite

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Rendering stable hard surfaces is an important problem in haptics for many tasks, including training simulators for orthopedic surgery or dentistry. Current impedance devices cannot provide enough force and stiffness to render a wall, and the high friction and inertia of admittance devices make it difficult to render free space. We propose to address these limitations by combining haptic augmented reality, untethered haptic interaction, and an encountered-type haptic display. We attach a plate with the desired hardness on the kinesthetic device's end-effector, which the user interacts with using an untethered stylus. This method allows us to directly change the hardness of the end-effector based on the rendered object. In this paper, we evaluate how changing the hardness of the end-effector can mask the device's stiffness and affect the user's perception. The results of our human subject experiment indicate that when the end-effector is made of a hard material, it is difficult for users to perceive when the underlying stiffness being rendered by the device is changed, but this stiffness change is easy to distinguish while the end-effector is made of a soft material. These results show promise for our approach in avoiding the limitations of haptic devices when rendering hard surfaces.

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Mechanical model of orthopaedic drilling for augmented-haptics-based training

Cited by 15 publications

References 14 publications

Modified Chip-Evacuation Force Modeling and Chip-Clogging Prediction in Drilling of Cortical Bone

Modified Chip-Evacuation Force Modeling and Chip-Clogging Prediction in Drilling of Cortical Bone

Force-Position Hybrid Compensation Control for Path Deviation in Robot-Assisted Bone Drilling

Masking Effects in Combined Hardness and Stiffness Rendering Using an Encountered-Type Haptic Display

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