A predictive bone drilling force model for haptic rendering with experimental validation using fresh cadaveric bone
A predictive bone drilling force model for haptic rendering with experimental validation using fresh cadaveric bone
复制标题
用于触觉渲染的预测骨钻孔力模型，并使用新鲜尸体骨进行实验验证
DOI：
10.1007/s11548-016-1463-7
复制
发表时间：
2017
影响因子：
3
通讯作者：
Yuan Wen
中科院分区：
文献类型：
--
作者：
Lin Yanping;Chen Huajiang;Yu Dedong;Zhang Ying;Yuan Wen
具有虚拟和触觉反馈的骨钻孔模拟器为传统的手术培训方法提供了一种安全、经济和可重复的替代方法。为了开发这样的模拟器，需要基于力模型的精确触觉渲染以基于用户输入反馈骨钻孔力。目前基于具有各种钻孔条件和参数的牛骨的预测骨钻孔力模型不能代表骨外科中的骨钻孔过程。本研究的目的是提供一个骨钻孔力模型的触觉渲染的基础上校准和验证实验新鲜尸体骨具有不同的骨密度。（2 mm直径），进料速率（20-60 mm/min）和主轴转速（4000-6000 rpm），测量两组标本的骨钻削力，并确定比法向压力和比摩擦压力的校准系数。测量力的验证实验与大范围的进给速度和主轴转速表明，所提出的骨钻孔力可以预测的趋势和平均force.ConclusionThe提出的骨钻孔力模型可用于手术模拟器中的触觉渲染。
PurposeBone 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.MethodsUsing 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.ResultsThe 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.ConclusionThe presented bone drilling force model can be used for haptic rendering in surgical simulators.