Parameters affecting mechanical and thermal responses in bone drilling: A review

Surgical bone drilling is performed variously to correct bone fractures, install prosthetics, or for therapeutic treatment. The primary concern in bone drilling is to extract donor bone sections and create receiving holes without damaging the bone tissue either mechanically or thermally. We review current results from experimental and theoretical studies to investigate the parameters related to such effects. This leads to a comprehensive understanding of the mechanical and thermal aspects of bone drilling to reduce their unwanted complications. This review examines the important bone-drilling parameters of bone structure, drill-bit geometry, operating conditions, and material evacuation, and considers the current techniques used in bone drilling. We then analyze the associated mechanical and thermal effects and their contributions to bone-drilling performance. In this review, we identify a favorable range for each parameter to reduce unwanted complications due to mechanical or thermal effects.     

Drilling in bone: modeling heat generation and temperature distribution

Thermo-mechanical equations were developed from machining theory to predict heat generation due to drilling and were coupled with a heat transfer FEM simulation to predict the temperature rise and thermal injury in bone during a drilling operation. The rotational speed, feed rate, drill geometry and bone material properties were varied in a parametric analysis to determine the importance of each on temperature rise and therefore on thermal damage. It was found that drill speed, feed rate and drill diameter had the most significant thermal impact while changes in drill helix angle, point angle and bone thermal properties had relatively little effect.     

Force and torque modelling of drilling simulation for orthopaedic surgery

The advent of haptic simulation systems for orthopaedic surgery procedures has provided surgeons with an excellent tool for training and preoperative planning purposes. This is especially true for procedures involving the drilling of bone, which require a great amount of adroitness and experience due to difficulties arising from vibration and drill bit breakage. One of the potential difficulties with the drilling of bone is the lack of consistent material evacuation from the drill's flutes as the material tends to clog. This clogging leads to significant increases in force and torque experienced by the surgeon. Clogging was observed for feed rates greater than 0.5 mm/s and spindle speeds less than 2500 rpm. The drilling simulation systems that have been created to date do not address the issue of drill flute clogging. This paper presents force and torque prediction models that account for this phenomenon. The two coefficients of friction required by these models were determined via a set of calibration experiments. The accuracy of both models was evaluated by an additional set of validation experiments resulting in average R² regression correlation values of 0.9546 and 0.9209 for the force and torque prediction models, respectively. The resulting models can be adopted by haptic simulation systems to provide a more realistic tactile output.     

Theoretical temperature calculation in the cutting area in drilling cortical bones

To date, analysis of temperature in the drill area of cortical bone have been limited to measurements with thermocouple systems at a certain distance from the drill hole. Many authors equate this temperature measurement with the drill--cortical bone interface temperature. In order show that there is a temperature difference, a drill hole was simulated with the aid of the "Finite Element Method". The interface temperature was calculated by the energy distribution. It was shown, that for "dry" and "watercooled" drilling, the drill hole temperature was 13 degrees C higher than the temperature measured with the thermocouple systems at a distance 0.5 mm of from the drill hole. In particular when using "watercooled" drills for bone and dental surgery, the temperature may be higher than the bone damage limit of 44 degrees C for lengthy and 50 degrees C for brief drilling.     

颅骨自动钻孔技术探析

头骨钻孔为脑部微创手术的重要步骤,现有钻孔设备多采朋手动方式,钻孔设备没有任何判断钻穿的装置,钻穿骨头后停止钻进完全靠医生的经验来实现。介绍了国内外该领域的研究现状与存在问题,提出了一种颅骨钻穿自动停刀的判断方法,提出了颅骨自动钻孔技术未来发展的趋势。     

Joint stiffness of the ankle and the knee in running

The spring-mass model is a valid fundament to understand global dynamics of fast legged locomotion under gravity. The underlying concept of elasticity, implying leg stiffness as a crucial parameter, is also found on lower motor control levels, i.e. in muscle-reflex and muscle-tendon systems. Therefore, it seems reasonable that global leg stiffness emerges from local elasticity established by appropriate joint torques. A recently published model of an elastically operating, segmented leg predicts that proper adjustment of joint elasticities to the leg geometry and initial conditions of ground contact provides internal leg stability. Another recent study suggests that in turn the leg segmentation and the initial conditions may be a consequence of metabolic and bone stress constraints. In this study, the theoretical predictions were verified experimentally with respect to initial conditions and elastic joint characteristics in human running. Kinematics and kinetics were measured and the joint torques were estimated by inverse dynamics. Stiffnesses and elastic nonlinearities describing the resulting joint characteristics were extracted from parameter fits. Our results clearly support the theoretical predictions: the knee joint is always stiffer and more extended than the ankle joint. Moreover, the knee torque characteristic on the average shows the higher nonlinearity. According to literature, the leg geometry is a consequence of metabolic and material stress limitations. Adapted to this given geometry, the initial joint angle conditions in fast locomotion are a compromise between metabolic and control effort minimisation. Based on this adaptation, an appropriate joint stiffness ratio between ankle and knee passively safeguards the internal leg stability. The identified joint nonlinearities contribute to the linearisation of the leg spring.     

Submaximal electromyography-driven musculoskeletal modeling of the human trunk during static tasks: Equilibrium and stability analyses

Conventional electromyography-driven (EMG) musculoskeletal models are calibrated during maximum voluntary contraction (MVC) tasks, but individuals with low back pain cannot perform unbiased MVCs. To address this issue, EMG-driven models can be calibrated in submaximal tasks. However, the effects of maximal (when data points include the maximum contraction) and submaximal calibration techniques on model outputs (e.g., muscle forces, spinal loads) remain yet unknown. We calibrated a subject-specific EMG-driven model, using maximal/submaximal isometric contractions, and simulated different independent tasks. Both approaches satisfactorily predicted external moments (Pearson’s correlation ∼ 0.75; relative error = 44%), and removing calibration tasks under axial torques markedly improved the model performance (Pearson’s correlation ∼ 0.92; relative error ∼ 28%). Unlike individual muscle forces, gross (aggregate) model outputs (i.e., spinal loads, stability index, and sum of abdominal/back muscle forces) estimated from maximal and submaximal calibration techniques were highly correlated (r > 0.78). Submaximal calibration method overestimated spinal loads (6% in average) and abdominal muscle forces (11% in average). Individual muscle forces estimated from maximal and submaximal approaches were substantially different; however, gross model outputs (especially internal loads and stability index) remained highly correlated with small to moderate relative differences; therefore, the submaximal calibration technique can be considered as an alternative to the conventional maximal calibration approach.     

Assessing the function of motor cortex: single-neuron models of how neural response is modulated by limb biomechanics

Do neurons in primary motor cortex encode the generative details of motor behavior, such as individual muscle activities, or do they encode high-level movement attributes? Resolving this question has proven difficult, in large part because of the sizeable uncertainty inherent in estimating or measuring the joint torques and muscle forces that underlie movements made by biological limbs. We circumvented this difficulty by considering single-neuron responses in an isometric task, where joint torques and muscle forces can be straightforwardly computed from limb geometry. The response for each neuron was modeled as a linear function of a "preferred" joint torque vector, and this model was fit to individual neural responses across variations in limb posture. The resulting goodness of fit suggests that neurons in motor cortex do encode the kinetics of motor behavior and that the neural response properties of "preferred direction" and "gain" are dual components of a unitary response vector.     

Enhanced bone screw fixation with biodegradable bone cement in osteoporotic bone model

Purpose: The purpose of this study was to study the potential of novel biodegradable PCL bone cement to improve bone screw fixation strength in osteoporotic bone. Methods: The biomechanical properties of bone cement (ε-polycaprolactone, PCL) and fixation strength were studied using biomechanical tests and bone screws fixed in an osteoporotic bone model. Removal torques and pullout strengths were assessed for cortical, self-tapping, and cancellous screws inserted in the osteoporotic bone model (polyurethane foam blocks with polycarbonate plate) with and without PCL bone cement. Open cell and cellular rigid foam blocks with a density of 0.12 g/cm3 were used in this model. Results: Removal torques were significantly (more than six-fold) improved with bone cement for cancellous screws. Furthermore, the bone cement improved pullout strengths three to 12 times over depending on the screw and model material.?Conclusions: Biodegradable bone cement turned out to be a very potential material to stabilize screw fixation in osteoporotic bone. The results warrant further research before safe clinical use, especially to clarify clinically relevant factors using real osteoporotic bone under human body conditions and dynamic fatigue testing for long-term performance.     

Techniques for Contamination Assessment During Drilling for Terrestrial Subsurface Sediments

Details about the procedures for drilling a ca. 150 m long drill core in a terrestrial setting under contamination controlled conditions are presented. Different to previous studies we only used commercially available drilling equipment to reduce the cost of operation significantly. The goals were (1) to minimize, (2) to monitor and, if possible, to quantify the contamination of the recovered sediments, and (3) to identify the different sources of contamination. Both the potential contamination of the sample material by surface microorganisms and non-indigenous material was assessed. To estimate the infiltration of drill mud into the core, fluorescent microspheres, having about half the size as microorganisms, were added to the mud. The drilling technique used was mud rotary drilling. With the exception of the very beginning of the drilling operations, the drill mud was devoid of any allochthonous hydrocarbons potentially derived from the drilling equipment or drill additives, and its biomarker composition reflected the varying organo-facies that were penetrated. Due to the lack of allochthonous hydrocarbons in the drill mud, its infiltration into the sediment cannot be traced by organic geochemical biomarker analysis. Microspheres proved to be a sensitive tool for the assessment of infiltration of drill mud into the core. The concentration of microspheres in the drill mud decreased continuously during the drilling, most probably caused by seepage of mud through leaks and attachment of spheres to the surface scum in the mud pit. Microscopic enumeration of the microspheres showed great variability in the depth of penetration of mud into the core, apparently unaffected of lithology. The sampling of the core material in the laboratory was carried out inside an anaerobic chamber. Several techniques for subsampling were used, according to sediment properties. The overall results indicate that, if strict contamination control protocols are employed, it is possible to recover uncontaminated samples at reasonable cost with commercially available drilling equipment.     

A stochastic model of elbow flexion strength for subjects with and without long head biceps tear

The classical approach of musculoskeletal modeling is to predict muscle forces and joint torques with a deterministic model constructed from parameters of an average subject. However, this type of model does not perform well for outliers, and does not model the effects of parameter variability. In this study, a Monte-Carlo model was used to stochastically simulate the effects of variability in musculoskeletal parameters on elbow flexion strength in healthy normals, and in subjects with long head biceps (LHB) rupture. The goal was to determine if variability in elbow flexion strength could be quantifiably explained with variability in musculoskeletal parameters. Parameter distributions were constructed from data in the literature. Parameters were sampled from these distributions and used to predict muscle forces and joint torques. The median and distribution of measured joint torque was predicted with small errors ( < 5%). Muscle forces for both cases were predicted and compared. In order to predict measured torques for the case of LHB rupture, the median force and mean cross-sectional area in the remaining elbow flexor muscles is greater than in healthy normals. The probabilities that muscle forces for the Tear case exceed median muscle forces for the No-Tear case are 0.98, 0.99 and 0.79 for SH Biceps, brachialis and brachioradialis, respectively. Differences in variability of measured torques for the two cases are explained by differences in parameter variability.     

A stochastic model of elbow flexion strength for subjects with and without long head biceps tear

The classical approach of musculoskeletal modeling is to predict muscle forces and joint torques with a deterministic model constructed from parameters of an average subject. However, this type of model does not perform well for outliers, and does not model the effects of parameter variability. In this study, a Monte-Carlo model was used to stochastically simulate the effects of variability in musculoskeletal parameters on elbow flexion strength in healthy normals, and in subjects with long head biceps (LHB) rupture. The goal was to determine if variability in elbow flexion strength could be quantifiably explained with variability in musculoskeletal parameters. Parameter distributions were constructed from data in the literature. Parameters were sampled from these distributions and used to predict muscle forces and joint torques. The median and distribution of measured joint torque was predicted with small errors (< 5%). Muscle forces for both cases were predicted and compared. In order to predict measured torques for the case of LHB rupture, the median force and mean cross-sectional area in the remaining elbow flexor muscles is greater than in healthy normals. The probabilities that muscle forces for the Tear case exceed median muscle forces for the No-Tear case are 0.98, 0.99 and 0.79 for SH Biceps, brachialis and brachioradialis, respectively. Differences in variability of measured torques for the two cases are explained by differences in parameter variability.     

Scientific drilling and biological evolution in ancient lakes: lessons learned and recommendations for the future

Scientific drilling to recover sediment core and fossil samples is a promising approach to increasing our understanding of species evolution in ancient lakes. Most lake drilling efforts to date have focused on paleoclimate reconstruction. However, it is clear from the excellent fossil preservation and high temporal resolution typical of lake beds that significant advances in evolutionary biology can be made through drill core studies coordinated with phylogenetic work on appropriate taxa. Geological records can be used to constrain the age of specific lakes and the timing of evolutionarily significant events (such as lake level fluctuations and salinity crises). Fossil data can be used to test speciation and biogeographic hypotheses and flesh out phylogenetic trees, using a better-resolved fossil record to estimate timing of phylogenetic divergences. The extraordinary preservation of many fossils in anoxic lake beds holds the hope of collecting fossil DNA from the same body fossils that improve our understanding of morphological character evolution and adaptation. Moreover, fossils allow calibration of molecular clocks, which are currently largely inferential. Lake Malawi Drilling Project results provide some guideposts on what might be expected in a drilling project for studies of evolution. The extreme variability in lake level and environmental history that most ancient lakes experience (exemplified by the Lake Malawi record) demonstrates that no one drilling locality is likely to provide a complete record of phylogenetic history for a radiating lineage. Evolutionary biologists should take an active role in the design of drilling projects, which typically have interdisciplinary objectives, to ensure their sampling needs will be met by whatever sites in a lake are ultimately drilled.     

A finite element model of the L5-S1 functional spinal unit: development and comparison with biomechanical tests in vitro

The main objective of this work is to develop a three-dimensional finite element model of the L5-S1 segment that is able to simulate its passive mobility measured in vitro. Due to their limited role in segment mobility, an isotropic linear elastic constitutive law was used for cartilage, cancellous and cortical bone. The intervertebral disk ground substance was modeled with a non-linear hyperelastic polynomial law. Fibers of the disk, as well as ligaments, were modeled with piecewise linear springs. Flexion-extension, axial rotation, and lateral bending torques were applied to the model. A comparison with the experimental results obtained on the same segment for these three major motions was conducted. The compliance of the segment subjected to pure torques was found to be similar between numerical and experimental results for all major motions. Coupled motions and translations were also similar, even in their amplitude. For lateral bending, the normal coupled motions originate from the geometry of the disk and not from the facet geometry.     

Load on the upper extremity in manual wheelchair propulsion

To study joint contributions in manual wheelchair propulsion, we developed a three-dimensional model of the upper extremity. The model was applied to data collected in an experiment on a wheelchair ergometer in which mechanical advantage (MA) was manipulated. Five male able-bodied subjects performed two wheelchair exercise tests (external power output P_ext = 0.25–0.50 W · kg⁻¹) against increasing speeds (1.11–1.39–1.67 m.s⁻¹), which simulated MA of 0.58–0.87. Results indicated a decrease in mechanical efficiency (ME) with increasing MA that could not be related to applied forces or joint torques. Increase in P_ext was related to increases in joint torques. On the average, the highest torques were noted in shoulder flexion and adduction (35.6 and 24.6 N · m at MA = 0.58 and P_ext= 0.50 W · kg⁻¹). Peak elbow extension and flexion torques were −10.6 and 8.5 N · m. Based on the combination of torques and electromyographic (EMG) records of upper extremity muscles, anterior deltoid and pectoralis muscles are considered the prime movers in manual wheelchair propulsion. Coordinative aspects of manual wheelchair propulsion concerning the function of (biarticular) muscles in directing the propulsive forces and the redistribution of joint torques in a closed chain are discussed. We found no conclusive evidence for the role of elbow extensors in direction of propulsive forces.     

A Finite Element Model of the L5-S1 Functional Spinal Unit: Development and Comparison with Biomechanical Tests In Vitro

The main objective of this work is to develop a three-dimensional finite element model of the L5-S1 segment that is able to simulate its passive mobility measured in vitro . Due to their limited role in segment mobility, an isotropic linear elastic constitutive law was used for cartilage, cancellous and cortical bone. The intervertebral disk ground substance was modeled with a non-linear hyperelastic polynomial law. Fibers of the disk, as well as ligaments, were modeled with piecewise linear springs. Flexion-extension, axial rotation, and lateral bending torques were applied to the model. A comparison with the experimental results obtained on the same segment for these three major motions was conducted. The compliance of the segment subjected to pure torques was found to be similar between numerical and experimental results for all major motions. Coupled motions and translations were also similar, even in their amplitude. For lateral bending, the normal coupled motions originate from the geometry of the disk and not from the facet geometry.     

Cortical bone failure mechanisms during screw pullout

An experimental and computational study of screw pullout from cortical bone has been conducted. A novel modification of standard pullout tests providing real time image capture of damage mechanisms during screw pullout was developed. Pullout forces, measured using the novel test rig, have been validated against standard pullout tests. Pullout tests were conducted, considering osteon alignment, to investigate the effect of osteons aligned parallel to the axis of the orthopaedic screw (longitudinal pullout) as well as the effect of osteons aligned perpendicular to the axis of the screw (transverse pullout). Distinctive alternate failure mechanisms, for longitudinally and transversely orientated cortical bone during screw pullout, were uncovered. Vertical crack propagation, parallel to the axis of the screw, was observed for a longitudinal pullout. Horizontal crack propagation, perpendicular to the axis of the screw, was observed for a transverse pullout. Finite element simulation of screw pullout, incorporating material damage and crack propagation, was also performed. Simulations revealed that a homogenous material model for cortical bone predicts vertical crack propagation patterns for both longitudinal and transverse screw pullout. A bi-layered composite model representing cortical bone microstructure was developed. A unique set of material and damage properties was used for both transverse and longitudinal pullout simulations, with only layer orientations being changed. Simulations predicted: (i) higher pullout forces for transverse pullout; (ii) horizontal crack paths perpendicular to screw axis for transverse pullout, whereas vertical crack paths were computed for longitudinal pullout. Computed results agreed closely with experimental observations in terms of pullout force and crack propagation.     

Cataglyphis desert ants improve their mobility by raising the gaster

We analyze theoretically the moment of inertia of the desert ant Cataglyphis (C. bicolor and C. fortis) around a vertical axis through its own center of mass when the animal raises its gaster to a vertical position. Compared to the value when the gaster is horizontal, the moment of inertia is reduced to one half; this implies that when increasing its angular acceleration the ant need apply only half the level of torque when the gaster is raised, compared to when the gaster is lowered. As an example, we analyze the cases of an ant running on circular and sinusoidal paths. In both cases, the ant must apply a sideways thrust, anti-roll and anti-pitch torques to avoid toppling, and, on the circular path when accelerating and throughout the sinusoidal trajectory, a torque to enable turning as the path curves. When the ant is accelerating in a very tight circle or running on a very narrow sinusoidal path, in which the amplitude of the sinusoid is less than the length of the ant's body, the forces required for the turning torque can equal and exceed those required for the sideways thrust, and can be reduced significantly by the ant raising the gaster, whereas the foot-thrust for the anti-roll and anti-pitch torques rises only modestly when the gaster is up. This suggests that there may be an evolutionary advantage for employing the gaster-raising mode of locomotion, since this habit will allow desert ants to use lower forces and less energy, and perhaps run faster on more tortuous paths.     

Ultrasound-based subject-specific parameters improve fascicle behaviour estimation in Hill-type muscle model

The estimation of muscle fascicle behaviour is decisive in a Hill-type model as they are related to muscle force by the force–length–velocity relationship and the tendon force–strain relationship. This study was aimed at investigating the influence of subject-specific tendon force–strain relationship and initial fascicle geometry (IFG) on the estimation of muscle forces and fascicle behaviour during isometric contractions. Ultrasonography was used to estimate the in vivo muscle fascicle behaviour and compare the muscle fascicle length and pennation angle estimated from the Hill-type model. The calibration–prediction process of the electromyography-driven model was performed using generic or subject-specific tendon definition with or without IFG as constraint. The combination of subject-specific tendon definition and IFG led to muscle fascicle behaviour closer to ultrasound data and significant lower forces of the ankle dorsiflexor and plantarflexor muscles compared to the other conditions. Thus, subject-specific ultrasound measurements improve the accuracy of Hill-type models on muscle fascicle behaviour.