Tianjin Key Laboratory for Advanced Mechatronic System Design and Intelligent Control, School of Mechanical Engineering, Tianjin University of Technology, Tianjin, China.
National Demonstration Center for Experimental Mechanical and Electrical Engineering Education (Tianjin University of Technology), Tianjin, China.
Sci Prog. 2023 Apr-Jun;106(2):368504231180027. doi: 10.1177/00368504231180027.
It is easy to cause thermal damage to the bone tissue when the surgical robot performs skull drilling to remove bone flaps, due to the large diameter of the drill bit, the large heat-generating area, and the long drilling time. Therefore, in order to reduce the thermal damage during the robot-assisted skull drilling process, the relationship between the drilling parameters and the drilling temperature during the skull drilling was studied in this paper. Firstly, a dynamic numerical simulation model of the skull drilling process was established by ABAQUS, and a temperature simulation plan for skull drilling was designed based on the Box-Behnken method. Then according to the simulation results, a quadratic regression model of drill diameter, feed rate, drill speed, and drilling temperature was established by using the multiple regression method. By analyzing the regression model, the influence of drilling parameters on the drilling temperature was clarified. Finally, the bone drilling experiment was carried out, and the error percentage was lower than 10.5% through the experiment to verify the reliability of the conclusion, and a safety strategy was proposed to ensure the safety of the surgical drilling process based on this experiment.
在手术机器人进行颅骨钻孔以移除骨瓣时，由于钻头直径较大、产生热量的面积较大以及钻孔时间较长，很容易对骨组织造成热损伤。因此，为了减少机器人辅助颅骨钻孔过程中的热损伤，本文研究了颅骨钻孔过程中的钻孔参数与钻孔温度之间的关系。首先，通过 ABAQUS 建立了颅骨钻孔过程的动态数值模拟模型，并基于 Box-Behnken 方法设计了颅骨钻孔温度模拟方案。然后，根据模拟结果，采用多元回归法建立了钻头直径、进给速度、钻头转速和钻孔温度的二次回归模型。通过对回归模型进行分析，阐明了钻孔参数对钻孔温度的影响。最后，进行了骨钻孔实验，通过实验验证了结论的可靠性，误差百分比低于 10.5%，并基于此实验提出了确保手术钻孔过程安全的策略。
