title: A novel toolpath force prediction algorithm using CAM volumetric data for optimizing robotic arthroplasty.
abstract: OBJECTIVE
  Robotic total hip arthroplasty is a procedure in which milling operations are performed on the femur to remove material for the insertion of a prosthetic implant. The robot performs the milling operation by following a sequential list of tool motions, also known as a toolpath, generated by a computer-aided manufacturing (CAM) software. The purpose of this paper is to explain a new toolpath force prediction algorithm that predicts cutting forces, which results in improving the quality and safety of surgical systems.
  
  
  METHODS
  With a custom macro developed in the CAM system's native application programming interface, cutting contact patch volume was extracted from CAM simulations. A time domain cutting force model was then developed through the use of a cutting force prediction algorithm. The second portion validated the algorithm by machining a hip canal in simulated bone using a CNC machine. Average cutting forces were measured during machining using a dynamometer and compared to the values predicted from CAM simulation data using the proposed method.
  
  
  RESULTS
  The results showed the predicted forces matched the measured forces in both magnitude and overall pattern shape. However, due to inconsistent motion control, the time duration of the forces was slightly distorted. Nevertheless, the algorithm effectively predicted the forces throughout an entire hip canal procedure.
  
  
  CONCLUSIONS
  This method provides a fast and easy technique for predicting cutting forces during orthopedic milling by utilizing data within a CAM software.
authors.affiliation: Advanced Research for Manufacturing Systems Laboratory, Department of Mechanical and Aerospace Engineering, University of California Davis, One Shields Ave, Davis, CA, 95616, USA.
authors.forename: Babak
authors.initials: B
authors.lastname: Kianmajd
authors.affiliation: Advanced Research for Manufacturing Systems Laboratory, Department of Mechanical and Aerospace Engineering, University of California Davis, One Shields Ave, Davis, CA, 95616, USA.
authors.forename: David
authors.initials: D
authors.lastname: Carter
authors.affiliation: Advanced Research for Manufacturing Systems Laboratory, Department of Mechanical and Aerospace Engineering, University of California Davis, One Shields Ave, Davis, CA, 95616, USA. msoshi@ucdavis.edu.
authors.forename: Masakazu
authors.initials: M
authors.lastname: Soshi
mesh_terms: D000465:Algorithms; D019644:Arthroplasty, Replacement, Hip / Q000379:methods*; D017076:Computer-Aided Design; D005269:Femur / Q000601:surgery*; D006801:Humans; D065287:Robotic Surgical Procedures / Q000379:methods*; D012984:Software
keywords: CAM software; Cutting forces; Orthopedic milling; Toolpath prediction