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Link to original content: https://doi.org/10.1007/s11548-016-1355-x
A novel toolpath force prediction algorithm using CAM volumetric data for optimizing robotic arthroplasty | International Journal of Computer Assisted Radiology and Surgery Skip to main content

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A novel toolpath force prediction algorithm using CAM volumetric data for optimizing robotic arthroplasty

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Abstract

Purpose

Robotic total hip arthroplasty is a procedure in which milling operations are performed on the femur to remove material for the insertion of a prosthetic implant. The robot performs the milling operation by following a sequential list of tool motions, also known as a toolpath, generated by a computer-aided manufacturing (CAM) software. The purpose of this paper is to explain a new toolpath force prediction algorithm that predicts cutting forces, which results in improving the quality and safety of surgical systems.

Methods

With a custom macro developed in the CAM system’s native application programming interface, cutting contact patch volume was extracted from CAM simulations. A time domain cutting force model was then developed through the use of a cutting force prediction algorithm. The second portion validated the algorithm by machining a hip canal in simulated bone using a CNC machine. Average cutting forces were measured during machining using a dynamometer and compared to the values predicted from CAM simulation data using the proposed method.

Results

The results showed the predicted forces matched the measured forces in both magnitude and overall pattern shape. However, due to inconsistent motion control, the time duration of the forces was slightly distorted. Nevertheless, the algorithm effectively predicted the forces throughout an entire hip canal procedure.

Conclusion

This method provides a fast and easy technique for predicting cutting forces during orthopedic milling by utilizing data within a CAM software.

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Acknowledgments

The authors express their appreciation to MTTRF and THINK Surgical, Inc., for lending their equipment and useful discussions. Support and funding for this work were provided by THINK Surgical, Inc.

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Authors and Affiliations

  1. Advanced Research for Manufacturing Systems Laboratory, Department of Mechanical and Aerospace Engineering, University of California Davis, One Shields Ave, Davis, CA, 95616, USA

    Babak Kianmajd, David Carter & Masakazu Soshi

Authors
  1. Babak Kianmajd
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  2. David Carter
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  3. Masakazu Soshi
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Corresponding author

Correspondence to Masakazu Soshi.

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The authors declare they have no conflict of interest.

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This article does not contain any studies with human participants or animals performed by any of the authors.

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This article does not contain patient data.

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Kianmajd, B., Carter, D. & Soshi, M. A novel toolpath force prediction algorithm using CAM volumetric data for optimizing robotic arthroplasty. Int J CARS 11, 1871–1880 (2016). https://doi.org/10.1007/s11548-016-1355-x

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  • DOI: https://doi.org/10.1007/s11548-016-1355-x

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