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An Experimental Evaluation of the Force Requirements for Robotic Mastoidectomy

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An Experimental Evaluation of the Force Requirements for Robotic Mastoidectomy

Auteurs : Neal P. Dillon ; Louis B. Kratchman ; Mary S. Dietrich ; Robert F. Labadie ; Robert J. Webster ; Thomas J. Withrow

Source :

Otology & neurotology : official publication of the American Otological Society, American Neurotology Society [and] European Academy of Otology and Neurotology [ 1531-7129 ] ; 2013.

RBID : PMC:3761064

Abstract

Hypothesis

During robotic milling of the temporal bone, forces on the cutting burr may be lowered by choice of cutting parameters.

Background

Robotic bone removal systems are used in orthopedic procedures but they are currently not accurate enough for safe use in otologic surgery. We propose the use of a bone attached milling robot to achieve the required accuracy and speed. To design such a robot and plan its milling trajectories, it is necessary to predict the forces that the robot must exert and withstand under likely cutting conditions.

Materials and Methods

We measured forces during bone removal for several surgical burr types, drill angles, depths of cut, cutting velocities, and bone types (cortical/surface bone and mastoid) on human temporal bone specimens.

Results

Lower forces were observed for 5 mm diameter burrs compared to 3 mm burrs for a given bone removal rate. Higher linear cutting velocities and greater cutting depths independently resulted in higher forces. For combinations of velocities and depths that resulted in the same overall bone removal rate, lower forces were observed in parameter sets that combined higher cutting velocities and shallower depths. Lower mean forces and higher variability were observed in the mastoid compared with cortical/surface bone.

Conclusion

Forces during robotic milling of the temporal bone can be predicted from the parameter sets tested in this study. This information can be used to guide the design of a sufficiently rigid and powerful bone-attached milling robot and to plan efficient milling trajectories. To reduce the time of the surgical intervention without creating very large forces, high linear cutting velocities may be combined with shallow depths of cut. Faster and deeper cuts may be used in mastoid bone compared to cortical bone for a chosen force threshold.

Url:

http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3761064

DOI: 10.1097/MAO.0b013e318291c76b
PubMed: 23787968
PubMed Central: 3761064

Affiliations:

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PMC:3761064

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<author><name sortKey="Dillon, Neal P" sort="Dillon, Neal P" uniqKey="Dillon N" first="Neal P." last="Dillon">Neal P. Dillon</name>
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<author><name sortKey="Kratchman, Louis B" sort="Kratchman, Louis B" uniqKey="Kratchman L" first="Louis B." last="Kratchman">Louis B. Kratchman</name>
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<author><name sortKey="Dietrich, Mary S" sort="Dietrich, Mary S" uniqKey="Dietrich M" first="Mary S." last="Dietrich">Mary S. Dietrich</name>
</author>
<author><name sortKey="Labadie, Robert F" sort="Labadie, Robert F" uniqKey="Labadie R" first="Robert F." last="Labadie">Robert F. Labadie</name>
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<author><name sortKey="Webster, Robert J" sort="Webster, Robert J" uniqKey="Webster R" first="Robert J." last="Webster">Robert J. Webster</name>
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<author><name sortKey="Withrow, Thomas J" sort="Withrow, Thomas J" uniqKey="Withrow T" first="Thomas J." last="Withrow">Thomas J. Withrow</name>
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<author><name sortKey="Webster, Robert J" sort="Webster, Robert J" uniqKey="Webster R" first="Robert J." last="Webster">Robert J. Webster</name>
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<front><div type="abstract" xml:lang="en"><sec id="S1"><title>Hypothesis</title>
<p id="P1">During robotic milling of the temporal bone, forces on the cutting burr may be lowered by choice of cutting parameters.</p>
</sec>
<sec id="S2"><title>Background</title>
<p id="P2">Robotic bone removal systems are used in orthopedic procedures but they are currently not accurate enough for safe use in otologic surgery. We propose the use of a bone attached milling robot to achieve the required accuracy and speed. To design such a robot and plan its milling trajectories, it is necessary to predict the forces that the robot must exert and withstand under likely cutting conditions.</p>
</sec>
<sec id="S3"><title>Materials and Methods</title>
<p id="P3">We measured forces during bone removal for several surgical burr types, drill angles, depths of cut, cutting velocities, and bone types (cortical/surface bone and mastoid) on human temporal bone specimens.</p>
</sec>
<sec id="S4"><title>Results</title>
<p id="P4">Lower forces were observed for 5 mm diameter burrs compared to 3 mm burrs for a given bone removal rate. Higher linear cutting velocities and greater cutting depths independently resulted in higher forces. For combinations of velocities and depths that resulted in the same overall bone removal rate, lower forces were observed in parameter sets that combined higher cutting velocities and shallower depths. Lower mean forces and higher variability were observed in the mastoid compared with cortical/surface bone.</p>
</sec>
<sec id="S5"><title>Conclusion</title>
<p id="P5">Forces during robotic milling of the temporal bone can be predicted from the parameter sets tested in this study. This information can be used to guide the design of a sufficiently rigid and powerful bone-attached milling robot and to plan efficient milling trajectories. To reduce the time of the surgical intervention without creating very large forces, high linear cutting velocities may be combined with shallow depths of cut. Faster and deeper cuts may be used in mastoid bone compared to cortical bone for a chosen force threshold.</p>
</sec>
</div>
</front>
</TEI>
<pmc article-type="research-article"><pmc-comment>The publisher of this article does not allow downloading of the full text in XML form.</pmc-comment>
  <pmc-dir>properties manuscript</pmc-dir>
  <front><journal-meta><journal-id journal-id-type="nlm-journal-id">100961504</journal-id>
<journal-id journal-id-type="pubmed-jr-id">22035</journal-id>
<journal-id journal-id-type="nlm-ta">Otol Neurotol</journal-id>
<journal-id journal-id-type="iso-abbrev">Otol. Neurotol.</journal-id>
<journal-title-group><journal-title>Otology & neurotology : official publication of the American Otological Society, American Neurotology Society [and] European Academy of Otology and Neurotology</journal-title>
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<issn pub-type="ppub">1531-7129</issn>
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<article-id pub-id-type="manuscript">NIHMS467743</article-id>
<article-categories><subj-group subj-group-type="heading"><subject>Article</subject>
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<title-group><article-title>An Experimental Evaluation of the Force Requirements for Robotic Mastoidectomy</article-title>
</title-group>
<contrib-group><contrib contrib-type="author"><name><surname>Dillon</surname>
<given-names>Neal P.</given-names>
</name>
<degrees>B.S.</degrees>
<aff id="A1">Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA</aff>
</contrib>
<contrib contrib-type="author"><name><surname>Kratchman</surname>
<given-names>Louis B.</given-names>
</name>
<degrees>B.S.</degrees>
<aff id="A2">Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA</aff>
</contrib>
<contrib contrib-type="author"><name><surname>Dietrich</surname>
<given-names>Mary S.</given-names>
</name>
<degrees>PhD</degrees>
<aff id="A3">School of Nursing and School of Medicine, Vanderbilt University, Nashville, TN, USA</aff>
</contrib>
<contrib contrib-type="author"><name><surname>Labadie</surname>
<given-names>Robert F.</given-names>
</name>
<degrees>M.D., PhD</degrees>
<aff id="A4">Department of Otolaryngology, Vanderbilt University Medical Center, Nashville, TN, USA</aff>
</contrib>
<contrib contrib-type="author"><name><surname>Webster</surname>
<given-names>Robert J.</given-names>
<suffix>III</suffix>
</name>
<degrees>PhD</degrees>
<aff id="A5">Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA Department of Otolaryngology, Vanderbilt University Medical Center, Nashville, TN, USA</aff>
</contrib>
<contrib contrib-type="author"><name><surname>Withrow</surname>
<given-names>Thomas J.</given-names>
</name>
<degrees>PhD</degrees>
<aff id="A6">Department of Mechanical Engineering, Vanderbilt University, Nashville, TN, USA</aff>
</contrib>
</contrib-group>
<author-notes><corresp id="CR1">Name and address of correspondence: Neal P. Dillon Vanderbilt University PMB 351592 2301 Vanderbilt Place Nashville, TN 37235 <email>neal.p.dillon@vanderbilt.edu</email>
 Office Phone: (615) 936-2493 Mobile Phone: (860) 919-3597 Fax: (615) 936-5515</corresp>
</author-notes>
<pub-date pub-type="nihms-submitted"><day>27</day>
<month>8</month>
<year>2013</year>
</pub-date>
<pub-date pub-type="ppub"><month>9</month>
<year>2013</year>
</pub-date>
<pub-date pub-type="pmc-release"><day>01</day>
<month>9</month>
<year>2014</year>
</pub-date>
<volume>34</volume>
<issue>7</issue>
<fpage>e93</fpage>
<lpage>e102</lpage>
<abstract><sec id="S1"><title>Hypothesis</title>
<p id="P1">During robotic milling of the temporal bone, forces on the cutting burr may be lowered by choice of cutting parameters.</p>
</sec>
<sec id="S2"><title>Background</title>
<p id="P2">Robotic bone removal systems are used in orthopedic procedures but they are currently not accurate enough for safe use in otologic surgery. We propose the use of a bone attached milling robot to achieve the required accuracy and speed. To design such a robot and plan its milling trajectories, it is necessary to predict the forces that the robot must exert and withstand under likely cutting conditions.</p>
</sec>
<sec id="S3"><title>Materials and Methods</title>
<p id="P3">We measured forces during bone removal for several surgical burr types, drill angles, depths of cut, cutting velocities, and bone types (cortical/surface bone and mastoid) on human temporal bone specimens.</p>
</sec>
<sec id="S4"><title>Results</title>
<p id="P4">Lower forces were observed for 5 mm diameter burrs compared to 3 mm burrs for a given bone removal rate. Higher linear cutting velocities and greater cutting depths independently resulted in higher forces. For combinations of velocities and depths that resulted in the same overall bone removal rate, lower forces were observed in parameter sets that combined higher cutting velocities and shallower depths. Lower mean forces and higher variability were observed in the mastoid compared with cortical/surface bone.</p>
</sec>
<sec id="S5"><title>Conclusion</title>
<p id="P5">Forces during robotic milling of the temporal bone can be predicted from the parameter sets tested in this study. This information can be used to guide the design of a sufficiently rigid and powerful bone-attached milling robot and to plan efficient milling trajectories. To reduce the time of the surgical intervention without creating very large forces, high linear cutting velocities may be combined with shallow depths of cut. Faster and deeper cuts may be used in mastoid bone compared to cortical bone for a chosen force threshold.</p>
</sec>
</abstract>
<funding-group><award-group><funding-source country="United States">National Institute on Deafness and Other Communication Disorders : NIDCD</funding-source>
<award-id>R01 DC012593 || DC</award-id>
</award-group>
<award-group><funding-source country="United States">National Institute on Deafness and Other Communication Disorders : NIDCD</funding-source>
<award-id>R01 DC010184 || DC</award-id>
</award-group>
<award-group><funding-source country="United States">National Institute on Deafness and Other Communication Disorders : NIDCD</funding-source>
<award-id>R01 DC008408 || DC</award-id>
</award-group>
</funding-group>
</article-meta>
</front>
</pmc>
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<name sortKey="Dillon, Neal P" sort="Dillon, Neal P" uniqKey="Dillon N" first="Neal P." last="Dillon">Neal P. Dillon</name>
<name sortKey="Kratchman, Louis B" sort="Kratchman, Louis B" uniqKey="Kratchman L" first="Louis B." last="Kratchman">Louis B. Kratchman</name>
<name sortKey="Labadie, Robert F" sort="Labadie, Robert F" uniqKey="Labadie R" first="Robert F." last="Labadie">Robert F. Labadie</name>
<name sortKey="Webster, Robert J" sort="Webster, Robert J" uniqKey="Webster R" first="Robert J." last="Webster">Robert J. Webster</name>
<name sortKey="Withrow, Thomas J" sort="Withrow, Thomas J" uniqKey="Withrow T" first="Thomas J." last="Withrow">Thomas J. Withrow</name>
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An Experimental Evaluation of the Force Requirements for Robotic Mastoidectomy

An Experimental Evaluation of the Force Requirements for Robotic Mastoidectomy

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