Pell Derek J, Soshi Masakazu
Department of Mechanical and Aerospace Engineering, Advanced Research for Manufacturing Systems Laboratory, University of California Davis, California, USA.
Int J Med Robot. 2018 Aug;14(4):e1910. doi: 10.1002/rcs.1910. Epub 2018 Mar 30.
Robot-assisted joint replacement surgery is becoming increasingly more common worldwide, therefore it is important to characterize and improve the bone-cutting mechanics of surgical tools.
Linear coefficients relating cutting force and chip thickness were derived for a surgical spindle. The cutting coefficients were integrated into an analytical simulation which calculated cutting forces, torque, and power consumption. An optimization experiment was performed. High speed video was taken at various tool parameter settings.
Varying machining parameters resulted in lower cutting forces. The surgical spindle stalled at the current spindle speed used in surgery, but did not for the new, optimized conditions. Multiple anomalies were identified in the videos that confirmed observations from the cutting force data.
Improved surgical performance and accuracy were achieved using slower spindle speeds, decreased cutting depth, and increased feed rates, as well as improving motor torque to ensure a smooth cutting process.
机器人辅助关节置换手术在全球范围内越来越普遍，因此表征和改进手术工具的骨切割力学非常重要。
推导了手术主轴的切削力与切屑厚度的线性系数。将切削系数整合到一个分析模拟中，该模拟计算切削力、扭矩和功耗。进行了优化实验。在各种刀具参数设置下拍摄高速视频。
改变加工参数可降低切削力。手术中使用的当前主轴速度下手术主轴会停止运转，但在新的优化条件下不会。视频中识别出多个异常情况，证实了切削力数据的观察结果。
通过使用较低的主轴速度、减小切削深度、提高进给速度以及提高电机扭矩以确保切割过程平稳，实现了手术性能和精度的提升。
