Force Prediction Model for Robotic Surgery in Orthopedics

Force Prediction Model for Robotic Surgery in Orthopedics

  Total arthroplasty is one of the most active applications of robotic surgery in orthopedics. The main job of orthopedic surgical robot is bone cutting with milling tools. A reliable method for predicting milling forces may allow us to design more intelligent and effective systems. In this study, we have developed a prediction models for milling forces during the orthopedic surgery by expanding the orthogonal bone-cutting model. To verify the model, we milled fresh bovine bones with a medical round bur and measured cutting forces in various cutting conditions. The developed model can predict milling forces about cutting depth below 0.5㎜ with a feedrate 2~9.8㎜/s, and 0~10% mean error and 13~25% of standard deviation. This model can be applied as a control algorithm of orthopedic robotic surgery, and also as a safety checking system. The model can be interpreted as general design criteria for new robotic system.