Research On Modeling And Simulation Of Cutting Force And Temperature In Robotic Orthopedic Surgery

With the improvement of modern medical system and the development of medical technology,medical surgery is also gradually developing to the direction of intelligence,minimally invasive and precision.Surgical robots based on artificial intelligence and robotics technology have been successfully developed and applied in the clinical field.In the 21st century,the application of surgical robot in orthopedics is one of the most promising technologies.The rationality of the preoperative path planning will directly affect the cutting force and cutting temperature of the bone material during the operation,which is directly related to the success or failure of the operation and the postoperative recovery.In this paper,an image navigation trajectory planning subsystem based on 3D Slicer platform is developed with ABB robot as the surgical subsystem.Furthermore,the cutting force and cutting temperature of bone material in the process of orthopedic surgical cutting are studied from Thermodynamics model and finite element simulation model,and the changing rules of cutting force and cutting temperature are analyzed,providing reference basis for the choice of cutter and the setting of milling parameters in orthopedic surgery practice.The specific content is as follows:(1)Research status and analysis of key and difficult points.The current research status of bone cutting at home and abroad is summarized through reviewing a large number of literatures.Moreover,the finite element simulation of bone cutting process,the modeling of cutting force and the mechanism of bone cutting in orthopedic surgery are researched.The control of cutting force and cutting temperature is the key to the success of orthopedic surgery.(2)System analysis of orthopedic surgical robot.The constructions of orthopedic surgical robot system and the kinematics D-H model are described.The transformation between cutting task and path planning in joint space of orthopedic surgical robot is described in detail,and the hardware platform of orthopedic surgical robot system is built.(3)Development of preoperative trajectory planning system.An image navigation trajectory planning subsystem for ABB IRB1200 robot is developed based on 3D Slicer platform.And the design principle of ABB IRB1200 robot remote control module is described in detail.The ABB IRB1200 robot can communicate with PC and send control instructions.(4)Study on the properties of bone materials and the thermodynamic model of bone materials.The biological properties,mechanical properties,temperature properties and geometric properties of bone materials are analyzed in detail.The cutting force model in the process of bone cutting and the cutting temperature field model of bone material are established,including the cutting heat model,the temperature distribution model and the thermal damage evaluation of bone material.(5)Simulation analysis of force and temperature in bone material cutting process.Based on the thermodynamic analysis of bone material cutting,a simplified model of the cutting process is established.The three-dimensional orthogonal cutting process of bone material is simulated by ABAQUS finite element simulation software,with selecting Johnson-Cook material model and applying chip separation criterion.The cutting force and cutting temperature generated by medical ball-end milling cutter and medical four-edge end milling cutter are analyzed by simulated under different cutting parameters such as revolving speed and feed speed,providing a reference for the selection of cutting tools and the setting of cutting parameters in robotic orthopedic surgery.(6)Conclusion and Outlook.Based on the research status of relevant issues at home and abroad and the actual work progress of this study,relevant research contents that can be carried out in the future are proposed.