Abstract
Total hip arthroplasty (THA) is a highly successful surgical procedure, but complications remain, including aseptic loosening, early dislocation and misalignment. These may partly be related to lacking training opportunities for novices or those performing THA less frequently. A standardized training setting with realistic haptic feedback for THA does not exist to date. Virtual Reality (VR) may help establish THA training scenarios under standardized settings, morphology and material properties. This work summarizes the development and acquisition of mechanical properties on hip reaming, resulting in a tissue-based material model of the acetabulum for force feedback VR hip reaming simulators. With the given forces and torques occurring during the reaming, Cubic Hermite Spline interpolation seemed the most suitable approach to represent the nonlinear force–displacement behavior of the acetabular tissues over Cubic Splines. Further, Cubic Hermite Splines allowed for a rapid force feedback computation below the 1 ms hallmark. The Cubic Hermite Spline material model was implemented using a three-dimensional-sphere packing model. The resulting forces were delivered via a human–machine-interaction certified KUKA iiwa robotic arm used as a force feedback device. Consequently, this novel approach presents a concept to obtain mechanical data from high-force surgical interventions as baseline data for material models and biomechanical considerations; this will allow THA surgeons to train with a variety of machining hardness levels of acetabula for haptic VR acetabulum reaming.
Highlights
Total hip arthroplasty (THA) is a highly successful surgical procedure, but complications remain, including aseptic loosening, early dislocation and misalignment
Human cadaveric tissues may here serve as an ideal model for trainees to gain experience, especially when supported by experienced senior colleagues. These scenarios are missing a standardized setting with predictable structure and haptics of the hip, which would be helpful to get a general appreciation for basic techniques and forces applied to the human system while at the same time having the opportunity to train the same intervention with exactly the same conditions
In case of commercial Virtual Reality (VR)-based simulators, it is often unclear if the underlying material models used for the haptic rendering are basing on empirical biomechanical data or the feeling of surgeons involved in their development process
Summary
Total hip arthroplasty (THA) is a highly successful surgical procedure, but complications remain, including aseptic loosening, early dislocation and misalignment. The resulting forces were delivered via a human–machine-interaction certified KUKA iiwa robotic arm used as a force feedback device This novel approach presents a concept to obtain mechanical data from high-force surgical interventions as baseline data for material models and biomechanical considerations; this will allow THA surgeons to train with a variety of machining hardness levels of acetabula for haptic VR acetabulum reaming. Human cadaveric tissues may here serve as an ideal model for trainees to gain experience, especially when supported by experienced senior colleagues These scenarios are missing a standardized setting with predictable structure and haptics of the hip, which would be helpful to get a general appreciation for basic techniques and forces applied to the human system while at the same time having the opportunity to train the same intervention with exactly the same conditions. Such performance would usually not be feasible using the FEA due to the computational load it requires
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