"Can You Feel It": An Early Experience with Simulated Vibration to Recreate Glenoid Reaming.

When developing educational simulators, meaningful haptic feedback is important. To our knowledge, no shoulder arthroplasty surgical simulator exists. This study focuses on simulating vibration haptics of glenoid reaming for shoulder arthroplasty using a novel glenoid reaming simulator. Methods: We validated a novel custom simulator constructed using a vibration transducer transmitting simulated reaming vibrations to a powered nonwearing reamer tip through a 3D-printed glenoid. Validation and system fidelity were evaluated by 9 fellowship-trained shoulder surgeon experts performing a series of simulated reamings. We then completed the validation process through a questionnaire focused on experts' experience with the simulator. Results: Experts correctly identified 52% ± 8% of surface profiles and 69% ± 21% of cartilage layers. Experts identified the vibration interface between simulated cartilage and subchondral bone (77% ± 23% of the time), indicating high fidelity for the system. An interclass correlation coefficient for experts' reaming to the subchondral plate was 0.682 (confidence interval 0.262-0.908). On a general questionnaire, the perceived utility of the simulator as a teaching tool was highly ranked (4/5), and experts scored "ease of instrument manipulation" (4.19/5) and "realism of the simulator" (4.11/5) the highest. The mean global evaluation score was 6.8/10 (range 5-10). Conclusions: We examined a simulated glenoid reamer and feasibility of haptic vibrational feedback for training. Experts validated simulated vibration feedback for glenoid simulation reaming, and the results suggested that this may be a useful additional training adjuvant. Level of Evidence: Level II, prospective study.

Analysis of the process parameters affecting the bone burring process: An in-vitro porcine study.

BACKGROUND: A stable bone burring process, which avoids thermal osteonecrosis and minimizes harmful vibrations, is important for certain orthopedic surgical procedures, and especially relevant to robot-operated bone burring systems. METHODS: An experimental characterization of the effects of several bone burring process parameters was performed. Burring parameters were evaluated by resultant bone temperature, tool vibration, and burring force. RESULTS: An optimal combination of bone burring parameters produced minimums in both bone temperature (<40°C) and tool vibration (<4 g-rms). A cylindrical burr, oriented normal to the specimen, resulted in significantly higher temperatures (50.8 ± 6.8°C) compared with a spherical burr (33.5 ± 4.3°C) (P = .008). Regardless of the parameters tested, burring forces were less than 10 N. CONCLUSIONS: The recommended configuration, which minimized both bone temperature and vibrations experimentally, was a 6-mm spherical burr at 15 000 rpm with a 2 mm/s feed rate.

Development of a vibration haptic simulator for shoulder arthroplasty.

PURPOSE: Glenoid reaming is a technically challenging step during shoulder arthroplasty that could possibly be learned during simulation training. Creation of a realistic simulation using vibration feedback in this context is innovative. Our study focused on the development and internal validation of a novel glenoid reaming simulator for potential use as a training tool. METHODS: Vibration and force profiles associated with glenoid reaming were quantified during a cadaveric experiment. Subsequently, a simulator was fabricated utilizing a haptic vibration transducer with high- and low-fidelity amplifiers; system calibration was performed matching vibration peak-peak values for both amplifiers. Eight experts performed simulated reaming trials. The experts were asked to identify isolated layer profiles produced by the simulator. Additionally, experts' efficiency to successfully perform a simulated glenoid ream based solely on vibration feedback was recorded. RESULTS: Cadaveric experimental cartilage reaming produced lower vibrations compared to subchondral and cancellous bones ([Formula: see text]). Gain calibration of a lower-fidelity (3.5 [Formula: see text] and higher-fidelity (3.4 [Formula: see text] amplifier resulted in values similar to the cadaveric experimental benchmark (3.5 [Formula: see text]. When identifying random tissue layer samples, experts were correct [Formula: see text] of the time and success rate varied with tissue type ([Formula: see text]). During simulated reaming, the experts stopped at the targeted subchondral bone with a success rate of [Formula: see text]. The fidelity of the simulation did not have an effect on accuracy, applied force, or reaming time ([Formula: see text]). However, the applied force tended to increase with trial number ([Formula: see text]). CONCLUSIONS: Development of the glenoid reaming simulator, coupled with expert evaluation furthered our understanding of the role of haptic vibration feedback during glenoid reaming. This study was the first to (1) propose, develop and examine simulated glenoid reaming, and (2) explore the use of haptic vibration feedback in the realm of shoulder arthroplasty.

Experimental analysis of the process parameters affecting bone burring operations.

The experimental quantification of the process parameters associated with bone burring represents a desirable outcome both from the perspective of an optimized surgical procedure as well as that of a future implementation into the design of closed-loop controllers used in robot-assisted bone removal operations. Along these lines, the present study presents an experimental investigation of the effects that tool type, rotational speed of the tool, depth of cut, feed rate, cutting track overlap, and tool angle (to a total of 864 total unique combinations) have on bone temperature, tool vibration, and cutting forces associated with superficial bone removal operations. The experimental apparatus developed for this purpose allowed a concurrent measurement of bone temperature, tool vibration, and cutting forces as a function of various process parameter combinations. A fully balanced experimental design involving burring trials performed on a sawbone analog was carried out to establish process trends and subsets leading to local maximums and minimums in temperature and vibration were further investigated. Among the parameters tested, a spherical burr of 6 mm turning at 15,000 r/min and advancing at 2 mm/s with a 50% overlap between adjacent tool paths was found to yield both low temperatures at the bone/tool interface and minimal vibrations. This optimal set of parameters enables a versatile engagement between tool and bone without sacrificing the optimal process outcomes.

Optimizing the rehabilitation of elbow lateral collateral ligament injuries: a biomechanical study.

BACKGROUND: Elbow lateral collateral ligament (LCL) injury may arise after trauma or lateral surgical approaches. The optimal method of rehabilitating the LCL-insufficient elbow is unclear. Therapists often prescribe active motion exercises with the forearm pronated. Recently, overhead exercises have become popular as they may enable gravity to compress the elbow joint, improving stability, although this has not been proved biomechanically. This investigation aimed to quantify the effects of several variables used in LCL injury rehabilitation on elbow stability. METHODS: Seven cadaveric specimens were tested in a custom elbow motion simulator in 3 arm positions (overhead, dependent, and varus) and 2 forearm positions (pronation and supination) during passive and simulated active elbow extension. Three injury patterns were studied (intact, LCL injury, and LCL with common extensor origin injury). An electromagnetic tracking device measured ulnohumeral kinematics. RESULTS: Following combined LCL and common extensor origin injury, overhead positioning enhanced elbow stability relative to the other arm positions (P < .01 in pronation; P = .04 in supination). Active motion stabilized the LCL-deficient elbow in the dependent (P = .02) and varus (P < .01) positions. Pronation improved stability in the overhead (P = .05), dependent (P = .06), and varus (P < .01) positions. CONCLUSIONS: Rehabilitation with the arm overhead improves elbow stability after LCL injury. Initiating earlier range of motion in this "safe position" might decrease elbow stiffness and allow optimal ligament healing. If exercises are done in the dependent position, active motion with forearm pronation should be encouraged. Varus arm positioning should be avoided.

Development of a Computational Elbow Model with Experimental Validation of Kinematics and Muscle Forces.

A computational elbow joint model was developed with a main goal of providing complimentary data to experimental results. The computational model was developed and validated using an experimental elbow joint phantom consisting of a linked total joint replacement. An established in-vitro motion simulator was used to actively flex/extend the experimental elbow in multiple orientations. Muscle forces predicted by the computational model were similar to the experimental model in 4 out of the 5 orientations with errors less than 7.5 N. Valgus angle kinematics were in agreement with differences less than 2.3°. In addition, changes in radial head length, a clinically relevant condition following elbow reconstruction, were simulated in both models and compared. Both lengthening and shortening of the radial head prosthesis altered muscle forces by less than 3.5 N in both models, and valgus angles agreed within 1°. The computational model proved valuable in cross validation with the experimental model, elucidating important limitations in the in-vitro motion simulator's controller. With continued development, the computational model can be a complimentary tool to experimental studies by providing additional noninvasive outcome measurements.