Experimental temperature evaluation during a robotized bone drilling process

Figures & data

Figure 1. Experimental setup with the thermal infrared camera FLIR P640.

Table 1. Experimental conditions.

	Drill speed (rpm)	Max feed rate (mm/s)	Standard surgical two-flute drill bit (mm)	Cortex I depth (mm)	Cortex II depth (mm)	Full hole depth (mm)	Drilling time (s)
Porcine femur	1000	4	2.8 mm new or used 40 times	5	5	22	8
Bovine femur	1000	4	6 mm used 80 times	8	8	38	16

Figure 2. Temperature value immediately before drill bit penetration through porcine femur bone. Bx1, box 1 (Max 29.3 °C; Min 17.8 °C; Average 19.6 °C).

Figure 3. Temperature before capturing the drill bit (29.3 °C).

Figure 4. Temperature value immediately after removing the drill bit from the porcine femur bone. Bx1, box 1 (Max 53.7 °C; Min 18.2 °C; Average 23.5 °C).

Figure 5. Temperature after removing the drill bit (53.7 °C).

Figure 6. Maximal registered temperature during drilling below the second cortex of porcine femur. Bx1, box 1 (Max 32.7 °C; Min 19.2 °C; Average 23.9 °C). Bx2, box 2 (Max 69.0 °C; Min 19.6 °C; Average 31.3 °C).

Figure 7. Graph of the temperature in Box 1 (see Figure 6).

Figure 8. Graph of the temperature in Box 2 (see Figure 6). The temperature after removing the drill bit was 57.1 °C.

Figure 9. Maximal registered temperature during drilling below the bone wall of bovine femur. Bx1, box 1 (Max 104.5 °C).

Figure 10. Temperature graph during drilling and after drill bit removal.

Table 2. Input parameters, their values and possible variations.

Input parameters	Values and possible variations
Feed rate	0.1–4 mm/s
Drill speed	300–1500 rpm in orthopedic practice; up to 3000, 7000, 17,000 rpm in high-speed drilling experiments.
Orthopedic drill:	Type (design, tool base material); diameter (2.5–6 mm); new or used
Object of manipulation	Bone type (cancellous, cortical); bone characteristics (depend on gender, age, health status - healthy or osteoporotic bone)
Depth of drilled hole	–
Cooling	Cooling mode and type of refrigerant
Drilling technique	Conventional drilling, pre-drilling, ultrasonically assisted drilling (UAD), automated drilling

Table 3. Possible input parameter values.

Input parameters	Possible combinations of input parameters
Feed rate	Fast or slow
Drill speed	Fast or slow
Drill bit diameter	Small or big
Drill bit type	New or used
Health status	Healthy bone or ostheoporotic bone
Drilling depth	Large or small
Drilling technique	Conventional or automated drilling

Data availability statement

The data that support the findings reported in this study are available from the corresponding author upon reasonable request.