Effect of tool center point angles on drilling performance in robotic cortical bone procedures

IF 2.3 4区医学 Q3 ENGINEERING, BIOMEDICAL

Medical Engineering & Physics Pub Date : 2025-07-01 DOI:10.1016/j.medengphy.2025.104388

Ju-Hyung Ha , Joon-Hyeok Choe , Jisoo Kim , Dong Min Kim , Jaewoo Seo

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引用次数: 0

Abstract

This study investigates the effects of different tool center point (TCP) angles on drilling precision and accuracy in cortical bone using a six-axis robot. Tool paths were generated using simulation software, and various TCP angles and corresponding robot postures were implemented in a real-world setting. To assess dynamic characteristics, experimental modal analysis was performed to measure natural frequencies and damping ratios (DRs) across the different configurations. Based on these results, spindle displacement was measured to quantify vibrations during drilling, allowing identification of configurations associated with lower vibration levels. To validate these findings, drilling experiments were conducted on cortical bone specimens to compare cutting performance. The results showed a 20.77 % average reduction in drilling torque and a 7.42 % decrease in the delamination factor (DF), which affects the bonding strength between the cortical screw and the bone. These findings suggest that the selection of TCP angle parameters may influence drilling performance and hole quality, underlining the relevance of robotic-assisted drilling (RAD) angle control in cortical bone surgery.

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机器人皮质骨手术中刀具中心点角度对钻孔性能的影响

本研究利用六轴机器人研究了不同刀具中心点角度对皮质骨钻孔精度和精度的影响。使用仿真软件生成刀具路径，并在现实环境中实现各种TCP角度和相应的机器人姿态。为了评估动态特性，进行了实验模态分析，测量了不同配置下的固有频率和阻尼比（dr）。基于这些结果，测量主轴位移以量化钻井过程中的振动，从而确定与较低振动水平相关的配置。为了验证这些发现，在皮质骨标本上进行了钻孔实验，以比较切割性能。结果表明，钻孔扭矩平均降低20.77%，脱层因子（DF）平均降低7.42%，脱层因子影响皮质螺钉与骨的结合强度。这些研究结果表明，TCP角度参数的选择可能会影响钻孔性能和孔质量，强调了机器人辅助钻孔（RAD）角度控制在皮质骨手术中的重要性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Medical Engineering & Physics 工程技术-工程：生物医学

CiteScore

4.30

自引率

4.50%

发文量

172

审稿时长

3.0 months

期刊介绍： Medical Engineering & Physics provides a forum for the publication of the latest developments in biomedical engineering, and reflects the essential multidisciplinary nature of the subject. The journal publishes in-depth critical reviews, scientific papers and technical notes. Our focus encompasses the application of the basic principles of physics and engineering to the development of medical devices and technology, with the ultimate aim of producing improvements in the quality of health care.Topics covered include biomechanics, biomaterials, mechanobiology, rehabilitation engineering, biomedical signal processing and medical device development. Medical Engineering & Physics aims to keep both engineers and clinicians abreast of the latest applications of technology to health care.