Abstract
Purpose
Bone drilling simulators with virtual and haptic feedback provide a safe, cost-effective and repeatable alternative to traditional surgical training methods. To develop such a simulator, accurate haptic rendering based on a force model is required to feedback bone drilling forces based on user input. Current predictive bone drilling force models based on bovine bones with various drilling conditions and parameters are not representative of the bone drilling process in bone surgery. The objective of this study was to provide a bone drilling force model for haptic rendering based on calibration and validation experiments in fresh cadaveric bones with different bone densities.
Methods
Using a commonly used drill bit geometry (2 mm diameter), feed rates (20–60 mm/min) and spindle speeds (4000–6000 rpm) in orthognathic surgeries, the bone drilling forces of specimens from two groups were measured and the calibration coefficients of the specific normal and frictional pressures were determined.
Results
The comparison of the predicted forces and the measured forces from validation experiments with a large range of feed rates and spindle speeds demonstrates that the proposed bone drilling forces can predict the trends and average forces well.
Conclusion
The presented bone drilling force model can be used for haptic rendering in surgical simulators.
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Acknowledgments
This study was funded by the National Natural Science Foundation of China (Grant Nos. 81372017 and 51575343).
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The authors declare that they have no conflict of interest.
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Yanping Lin and Huajiang Chen have contributed equally to this work.
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Lin, Y., Chen, H., Yu, D. et al. A predictive bone drilling force model for haptic rendering with experimental validation using fresh cadaveric bone. Int J CARS 12, 91–98 (2017). https://doi.org/10.1007/s11548-016-1463-7
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DOI: https://doi.org/10.1007/s11548-016-1463-7