Force and torque modelling of drilling simulation for orthopaedic surgery

Area of Science:

• Orthopaedic Surgery Simulation
• Biomechanical Engineering
• Surgical Robotics

Background:

• Haptic simulation systems are valuable for orthopaedic surgery training and planning.
• Bone drilling presents challenges like vibration, drill bit breakage, and material clogging in flutes.
• Drill flute clogging increases surgical forces and torque, a phenomenon not addressed by current simulators.

Purpose of the Study:

• To develop force and torque prediction models for bone drilling that incorporate drill flute clogging.
• To enhance the realism of haptic simulation systems for orthopaedic surgery.

Main Methods:

• Developed predictive models for force and torque during bone drilling, accounting for material clogging.
• Determined model coefficients of friction through calibration experiments.
• Validated model accuracy using separate experimental data.

Main Results:

• Achieved high accuracy in force and torque prediction models, with average R² values of 0.9546 and 0.9209, respectively.
• Identified clogging in bone drilling occurs at feed rates >0.5 mm/s and spindle speeds <2500 rpm.
• The developed models accurately reflect the increased forces and torques caused by drill flute clogging.

Conclusions:

• The presented force and torque prediction models effectively simulate the effects of drill flute clogging during bone drilling.
• These models can be integrated into haptic simulation systems to provide more realistic tactile feedback for surgical training.
• Improved haptic feedback will enhance the training and preoperative planning for orthopaedic procedures involving bone drilling.