A New Methodology of Finding Optimal Toolpath and Tooling Strategies for Robotic-Assisted Arthroplasty

Abstract

Robotic total hip arthroplasty is a procedure in which a milling operation is performed on the femur followed by insertion of a prosthetic implant. Although surgeons operate the robots, they do not control the choice of robotic tools and cutting strategies of the robot. Toolpath parameters, such as feedrate, tool geometry, and spindle speeds, govern the cutting forces of the robot. This research covers a methodological approach for finding optimal parameters such that cutting forces and surgical times are reduced. Many different types of orthopedic surgical burs were retrofitted into an advanced computer numerically controlled (CNC) machine, and the characteristics of each tool were evaluated. A simulation cutting model was then developed to find the parameters that could remove the most material in the fastest amount of time without violating any of the safety constraints of surgery. The new methodology proposed not only finds the theoretical optimal parameters but also expedites the process of finding sufficient parameters for orthopedic surgery.