Prediction Modeling and Sensitivity Analysis of Robot Bone Milling Temperature Operated by a Doctor

Heqiang Tian,Yanan Yao,Bin Tian,Xiaoqing Dang,Debao Meng,Yu Gao,Jingbo Pan,Xiaoliang Jin

doi:10.1155/2021/6806689

Abstract

Bone milling is a common method in robot orthopedic surgery. However, excessive milling temperature will cause thermal necrosis of bone cells and tissues. It is necessary to carry out further research and analysis on the robot bone milling process considering the lamina milling skills of spinal surgeons and clinical practice to reduce the damage to bone cells and nearby tissues and obtain good cutting surface quality. Considering the randomness of milling parameters during operation, a prediction method of milling temperature model for ball milling cutter considering the doctor’s surgical skills was proposed based on response surface method. Because of material anisotropy and microstructure difference between the cortical bone and cancellous bone, this paper would analyze the influencing factors in different bone layers to establish the prediction model of milling temperature in the segments of cortical bone and cancellous bone. Also, the influence and distribution of milling parameters on temperature in three cutting modes such as parallel cutting mode, cross cutting mode, and vertical cutting mode in the cortical bone region were analyzed. The parameter sensitivity of the milling temperature prediction model was analyzed by the Sobol method, and the influence of the input parameters on the output milling temperature was analyzed quantitatively.

Highlights

In recent years, medical robot has become the research hotspot of medicine and robot
Cancellous bone structure is composed of trabeculae and pores, in which trabeculae play a supporting role and pores are filled with bone marrow. ere is a very thin transition between the cortical bone and cancellous bone, which is called inner circumferential lamellae. e cortical bone is located in the outer layer of bone, which is composed of osteons and bone matrix
Milling temperature T1 in the parallel cutting mode, temperature T2 in the cross cutting mode, milling temperature T3 in the vertical cutting mode were collected, respectively, and milling temperature T4 was collected in cancellous bone region

Summary

Introduction

Medical robot has become the research hotspot of medicine and robot. In the process of bone milling, excessive milling temperature will cause thermal necrosis of bone cells and tissues [3]. It is the key to avoid excessive temperature in the process of bone cutting in modern surgery. E bone cutting temperature model can be used for bone processing state recognition and optimization of cutting parameters setting of each layer of bone. Federspil et al obtained optimized parameters for drilling the calvarian or mastoid bone procedure and established the first setup for robotic milling of the lateral skull base by conducting experimental milling of the skull base on two human specimens using a hexapod robot [5]. Zhang et al deduced the thermal generation rate and other parameters

Methods

Results

Conclusion