Oluseyi Adewale Orelaja (Orcid ID: 0000-0003-2445-1482)

Design of a Vibration Damping Robot and Force Evaluation In

Accepted Article
Intraoperative Robotic Assisted Femoral Shaft Repair Using a Modified
Soft Damper

Orelaja Oluseyi.A1,2, Xingsong Wang,1* Jie Li1, Ibrahim Sh.Dauda1,6, Ishola. A. Afiz4, Odunlami S.A5,
Abdulyezir A. Badmos3,Umer Sheriff1.
1.
School of Mechanical Engineering Southeast University Nanjing, P.R China
2.
Department of Mechanical Engineering,Moshood Abiola Polytechnic,Abeokuta,Nigeria
3.
Department of Electrical/Electronic Engineering, Moshood Abiola Polytechnic,Abeokuta,Nigeria
4.
Department of Mechanical Federal university of Agriculture Abeokuta, Nigeria.
5.
Department of Mechanical Engineering,Federal Polytechnic Ilaro Ogun State Nigeria.
6.
Department of Mechatronic Engineering, Faculty of Engineering, Bayero University Kano, Nigeria.

xswang@seu.edu.cn

This article has been accepted for publication and undergone full peer review but has not been through
the copyediting, typesetting, pagination and proofreading process, which may lead to differences between
this version and the Version of Record. Please cite this article as doi: 10.1002/rcs.2349.

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 Abstract
. Closed intramedullary nailing fixation is a method for treating fractured femurs with minimal invasiveness.
However, this method lacks safety and precision. To avert prevailing problems such as extended cracks in
Accepted Article
the already broken bone, the design of a vibration damping robot and force evaluation system is essential.
This paper present a sensor-based clamping robot system embedded with a regulated pressurized air
balloon. Drilling forces were monitored by a force sensor attached to the end robot effector, while the
reduced vibration result was measured by a non-contact laser displacement sensor. A two degree of freedom
(2DOF) model was developed. Force and vibration data were obtained using a data acquisition module
(EMS 309) and analyzed using MATLAB software (Version R2015b). Results obtained shows that both the
frequencies and amplitudes of the vibration is reduced at 6 bar with effector’s spindle speed of 1500rpm.
This proposed concept shows that drilling force and vibration can be reduced simultaneously using a robot
effector coupled with a damper.

Keywords—Vibration reduction; femoral shaft fracture; alignment; force reduction; air-damper; repositioning

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 Introduction
Femoral fracture has recently been considered as one of the common orthopedic problems faced
Accepted Article
by people of average life span, which is usually due to aging [1]. A fractured femur requires a
certain period of time to heal. Meanwhile, immobility of the injured body part is needed for the
growth of the bone tissues, thus causing a lot of discomfort to patients. To fix a broken femur,
drilling techniques are required which involve the use of axial cutting force and torque by a
conventional twist drill bit to remove, perforate or cut hard tissues in orthopedics, neurosurgery,
just to mention a few [2]. The femur is among the strongest bones in the human body, which are
surrounded by muscles and other flexible soft tissues. Despite being secured by thigh flesh,
femoral shaft fracture occurs often as a result of high-energy trauma or impact, such as vehicle
accidents or sudden falls from high altitude [3]. Less bone density (osteoporosis) causes bone
weakness, which could also lead to undue femoral fractures from a very low energy impact
force.
Presently, closed intramedullary nailing is adopted as the standard treatment for a
fractured femur. Its advantage in maintaining the anatomical structure of a broken portion and
improving the mechanical properties of the affected section has earned the method its wide
acceptance [4]. Repositioning, reduction and drilling of the fracture fragments are some of the
relevant components of the fracture repair process. Total reduction and drilling must be done by
skilled and qualified surgeons in order to prevent repeated and forceful movements of the
affected side that may cause more soft-tissue injuries and associated complications [7][5].
Mostly, reduction, repositioning, and intramedullary (IM) fixation are done with radiographic
monitoring (X-rays), which results in high radiation exposure of the medical staff and patients.
Due to the persistent use of this method, medical staff as well as patients is usually affected by
the overexposure to radiation.[8]

Many researchers have developed robot assisted systems to address issues encountered in the
femoral shaft drilling process. Their applications are vast and aid in orthopedic surgical
procedures. The use of robots in theatre rooms for drilling and cutting hard tissues has high
precision tendencies and flexibility [6]. Despite the advancement in the orthopedic robot assisted
systems recorded so far, there are still pending issues that need to be addressed in order to perfect
the available technologies. Currently, one general problem is the absence of a generic set-up for
the reduction of drilling forces on the perineal, which is needed for different types of fracture.

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 This system is found to be necessary in assisting surgeons while drilling, repositioning, re-
alignment, and fixation to prevent any further complications. Over the years, several types of
Accepted Article
surgical robots have been designed and developed to solve the excessive drilling force problem
[7 8]. To address this issue, Dai et al [14] and Coulson et al [15] used direct measurement of
vibration signals on the bone while drilling with a laser displacement sensor based on
triangulation. Their findings showed a significant reduction in drilling forces on the test sample.
In spite of the achievements recorded, a high vibration amplitude during the drilling process has
not been addressed by the researchers, which affected the expected results achieved during robot
assisted drilling [9 10]. Vibration drilling is also a method used to enhance the work efficiency of
a drill bit during surgery. However, the overall objective of a safe femur surgical operation
should focus on efforts to evaluate the acting drilling force and reduce vibration on bone micro-
structure during repositioning and drilling, which is lacking in the current literature [11 12].
Maximum safety, less operational time, and a perfect drilling process are guaranteed when
vibration and cutting forces are controlled.
In this paper, a robot-assisted femoral shaft drilling model for vibration and drill force
reduction is proposed. The system was developed using a soft damper embedded with a
regulated pressurized air balloon (vibration absorber) coupled with a sensor to monitor and
control excessive vibration during the femoral drilling procedure since bone characteristic
changes when it fractured, although, this depends on bone density, which therefore resulted to
change in the natural frequency and mode of the bone [13]. A dynamic model of the system was
also created, and experiments were carried out to determine the amount of drill forces and
vibration reduction. The concept introduced in this work fills in the gap yet to be addressed in the
literature on bone drilling techniques, where it is shown that bone repair using drills can be
achieved successfully by reducing the forces acting on it and the resulting vibration
simultaneously, which leads to a successful vibration reduction with promising clinical
application. The paper went into great detail about the evaluation system for the drilling forces
and vibration reduction techniques that were used. Moreover, the system is designed with strict
adherence to safety rules in order to prevent more injury or trauma to patients. It is believed that
the integration of the evaluation and vibration reduction systems in the robot-assisted platform
will aid surgeons in performing typical drilling operations with minimal vibration for the repair
of fractured femoral shafts with minimal complication tendencies.

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 2.0 Materials and methods

2.1 Apparatus for intraoperative measurement force-vibration reduction

Accepted Article
When a femoral fractured fragment lies along a non-uniplanar line during the repair process,
there is a tendency for complications due to misalignment. In order to experimentally illustrate
the forces and vibration caused by dynamic components of the cutting force, one important
parameter is the relative position between the force sensor, drill, balloon damper, and the femur.
Figure 1 shows the schematics of the proposed force and vibration reduction system. The set-up
consists of a well-designed soft damper clamp manufactured for this purpose, a compressed air
source from an air pump output line to inflate the concentric balloons around the already re-
positioned bone already implanted and IM nailed. For this experiment, artificial bone was
considered as the test specimen for the drill. A force sensor was attached to the end of the robot
effector manipulator to sense the drilling force, while a laser vibration displacement sensor
(LDS) measures the vibration displacement of the bone caused by the drilling force. All the
signals acquired were transferred via cables to the visual display unit (VDU) for further analysis
and presentation.

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 Solenoid valves
Power

Air Output
Accepted Article
Vibration
sensor Implant
LDS
Main Inlet
Fracture site
Force sensor Drill
1 2 8 7
Stopper
Drill direction
3 4 5 6
Femur Bone
Ballon
Robot effector
Clamp
Air regulator
Suction Line Soft Viscoelastic
Vibration signal Ballon
Air Damper

Output Line
PID Data
Air Compressor
Acquisition

VDU

Figure 1 Showing Vibration Damping Synchronized Air Damper

Robot and Force Evaluation In Intraoperative Robotic
Assisted Femoral Shaft Repair Using a Modified Soft Damper

During bone repair or reconditioning process, the application of skeletal traction force is also
very important in order to realigned or repositioned the fractured bone in the right place with
no or minimal complication as shown in Figure 2(a) and (b).

(a) (b)
Figure 2 Showing the Lateral and Anterior/Posterior Fractural Failure.

To reduce the vibration during femoral shaft drilling, the initial displacement of the
fracture bone was noted after being repositioned in the soft air damper. The balloon pressure
was increased considerably, while the drilling force and vibration were measured by the force
sensor coupled to the robot manipulator while the laser displacement sensor (LDS) measured
the displacement of the bone during the drilling process. Figure 3 shows the experimental set-
up while figure 4 illustrates the schematic view of the robotic drilling setup..

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Accepted Article
Figure 3 Showing the experimental set-up for force evaluation and vibration reduction process

Cutting
force Vibration
Finite
output
Bone
SoftSpecimen
clamp Accelerometer Computing Element
system (PC) Analysis
(ANSYS)

Soft Clamp

Figure 4 Fixture (Soft clamp) layout of vibration measurement and characterization of bone
drilling using finite element analysis.
Table 1 Parameters related to robot effector drill and Soft damper

Parameter Parameter value

Robot type (HANs) Model: HREF01-LD-100ST
Robot weight and area covered(mm) 40kg/1000
Selected cutting speed (rpm) 600, 800, 1000
Feed rate (mm/min) 6
Drill type (HSS) Ø (mm) 2.5
Balloon air-pressure (kpa) 4, 6, 8.

Table 2 Parameters of bovine Femur

Parameters Value
Length of femur (mm) 85.68
Marrow diameter(mm) 32.45

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 Bone thickness (mm) 7.5
Bone density g/m3 1100
Accepted Article
3.0 Mathematical Modeling of Bone Damping System
Several real engineering systems such as dynamic vibration absorber system which are proposed to be used in
our experimental procedure can be definitely presented as 2DOF vibrating system [16]. However, in this
experimental research, a 2DOF air damped balloon dynamic vibration absorber model (BDVAM) for bone surgical
drilling has been studied as shown in Figure 5 below, the mass ratio (μ) i.e. the ratio of the femur shaft to 𝑚2 to the
auxiliary mass 𝑚1 of the femur shaft is greater than unity (μ >>1). And it is always within the range of 2.5 to 5.0.

General Damping System

X1 (t)
M1 Auxilliary mass

c1
k1

X2 (t)
M2 Femur
shaft bone

k2 C2 (t) U (t)

Figure 5 Showing general 2DOF vibrating system of a femoral shaft (BDVAM) (μ >>1).

The 2DOF equations that describe the dynamics damping of the femoral shaft are given as
equations (1) and (2);

𝑚1 𝑥̈ 2 = -𝑘1 (𝑥1 − 𝑥2 )- 𝑐1(𝑥̇ 1 − 𝑥̇ 2 ) – 𝑘2 (𝑥2 − 𝑢)- 𝑐2 (𝑥̇ 2 − 𝑢̇ ) (1)

𝑚1 𝑥̈ 2 = -𝑘1 (𝑥1 − 𝑥2 )- 𝑐1(𝑥̇ 1 − 𝑥̇ 2 ) (2)

The effect of the air pressure damping ratio on the transmissibility of the vibration on the femoral
shaft can then be represented by

1
𝑋2 [𝐴22 𝜆2 +𝐴00 ]2 +[𝐴11 𝜆]2 2
𝑀𝑡2 = = [[𝐵 4 −𝐵 𝜆2 +𝐵 ]2 +[−𝐵 𝜆3 +𝐵 𝜆]2 ] (3)
𝑈 4𝜆 2 0 3 1

1
𝑋1 [−𝐴2 𝜆2 +𝐴0 ]2 +[𝐴1 𝜆]2 2
𝑀𝑡1 = = [[𝐵 4 −𝐵 𝜆2 +𝐵 ]2 +[−𝐵 𝜆3 +𝐵 𝜆]2
] (4)
𝑈 4𝜆 2 0 3 1

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 Where;

𝐴22 = 2𝜁2 , 𝐴11 = 𝑣 2 + 4𝜁1 𝜁2 v, 𝐴00 = 2 (𝜁1 𝑣 2 + 𝜁2 v), and 𝐴2 = 4 𝜁1 𝜁2 v, 𝐴1 = 2𝜁1 𝑣 2 , 𝐴1 = =

Accepted Article
2𝜁1 𝑣 2 , 𝐴0 =𝑣 2 and

𝐵4 = 1, 𝐵3 = 2 (𝜁1 + (𝜁1 /μ) + 𝜁2 v), 𝐵2 = (1 + (1/μ) +𝑣 2 ), while 𝐵1 = 2 (𝑣𝜁2 +𝜁1 𝑣 2 ), 𝐵0 = 𝑣 2

Where;

𝑎22 = 2𝜁2 𝑣, 𝑎11 = (𝑣 2 + 4𝜁1 𝜁2 v+4𝜁𝑎 𝑘 0.5 𝜁2 𝑣), 𝑎00 = 2 (𝜁1 𝑣 2 +𝜁𝑎 𝑘 0.5 𝑣 2 + 𝜁2 𝑣 + 𝑘𝜁2 v), and

𝑎2 = (4 𝜁1 𝜁2 v +4𝜁2 𝜁𝑎 𝑘 0.5 𝑣), 𝑎1 = 2(𝜁1 𝑣 2 + 𝜁𝑎 𝑘 0.5 𝑣 2 + 𝜁2 𝑣 + 𝑘𝜁2 𝑣), 𝑎0 =𝑣 2 (1 + 𝑘) and 𝑏4 = 1,

𝑘 0.5
𝑏3 = 2 (𝜁1 + (𝜁1 /μ) + 𝜁2 v+𝜁𝑎 [𝑘 0.5 + ( )]), 𝑏2 = (1 +k+4𝜁1 𝑣𝜁2 + 4𝜁𝑎 𝑘 0.5 𝑣𝜁2 + (1/μ) +𝑣 2 +
𝜇

(𝑘⁄𝑢)),

𝑏1 = 2 (𝑣𝜁2 +𝑘𝑣𝜁2 + 𝜁1 𝑣 2 + 𝜁𝑎 𝑘 0.5 𝑣 2 ), 𝑏0 = v 2 (1+k).

3.1 Dynamic Modeling of Femoral Shaft
The vibration experienced during drilling of femoral shaft using this soft model clamp was
experimentally reduced by varying the amount of air-fill in the baloon. This represent a damping
mechanism to the bone.The vibration signals at variying air pressure and different robot spindle
speed were measured, analyzed and computed to evaluate the changes in the vibration signals. It
was observed that vibration was much towards the axial direction of the drill bit and minimal
vibration was also experienced at the lateral and torsional path of the bone due to difference in
the center distance of the bone with respect it length.
The dynamic equations of the femoral shaft changes due to tissue removal as the sharp cutting
edge of the drill bit perforated and goes through the cancellous bone taking out the chips and
particles of the fractured spongy trabeculae to the bone surface, sometimes results to clogging or
trapping of the drill inside the bone which consequently need high cutting force and speed which
ultimately resulted to high vibration [18], sometimes if not well handled could cause tool
breakage and microcrack, from the schematic diagram of femur shaft illustrated in Figure 6, it is
assumed surrounded by tissues; therefore it can also be further modeled as the mass-spring
system. The conditions and assumption on this modeling process are listed as, the reaction force,
load or stress on the muscle and tissue which contribute to change in dynamic behavior of the
femur bone [12 19].

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 Effector drill motor

Drill
Accepted Article
Vibration
sensor Ft

Femur Bone
Ballon
Clamp

Figure 6 Schematic diagram of the Robot effector drill with suspended Femur on Balloon
(spring)
The femoral shaft has two ends which represent the total length of a beam (L) and F (t) is the
cutting force (where t is the time of cut). Assuming the beam is a rigid body, the weight will be
considered to be concentrated in the middle of the cut. To simplify the complexity of the model’s
equation, the linear and rotational motions are not considered. The dynamic response of mass
suspended at both ends denotes the bending stiffness of the simply supported beam with the
given length (L). The total stiffness of these springs is represented by the femur being modeled
as a uniform cross section and massless beam with mass converged at the middle. The cutting
force F (t) is acting at the center of the beam (rigid body), which coincides with the midpoint of
the femur. This model in Figure 6 shows the dynamic model because the horizontal and
rotational motions are not presented.
Figures 7(a) and 7(b) show how the entire drilling process can be divided into two basic
stages. While drilling at the midpoint, the Femur shaft acts as a simple supported beam and the
dynamic response of the beam with a single mass mounted on it can then be considered as a
linear spring (see figure 7(b)). The bending stiffness of the beam supported at both ends by
length (L) in Fig. 7 (a) is given as equation (5):

48𝐸𝐼 (5)
𝑘𝑙 =
𝐿3

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 F(t) F(t)
m
Elastic (L/2) (L/2)
kl
beam L dl(t)
Accepted Article
M F(t)
M M M
Rigid body db (t)
kb

(a) (b)
m m
dl(t)
Figure 7(a) and (b) Dynamic model of femur subjected to longitudinal cutting force kl
M
M F(t)
db(t)
where E and I are the modulus of elasticity and moment of inertia of the specimen, respectively.
The mass of the rigid body is represented by M, and the two masses, m and M, are from the
equilibrium position 𝑑𝑙 (𝑡) and 𝑑𝑏 (t). From figure 5 (a), the equation of motion is derived using
Newton’s law as equation (6);
𝛿𝑑𝑙2 (𝑡) (6)
𝑚 + 𝐾𝑙 [𝑑𝑙 (𝑡) − 𝑑𝑏 (𝑡)] = F (t)
𝛿𝑡 2
𝛿𝑑𝑏2 (𝑡)
{𝑀 𝛿𝑡 2 + 𝐾𝑙 [𝑑𝑙 (𝑡) − 𝑑𝑏 (𝑡)] + 𝐾𝑏 𝑑𝑏 (𝑡) = 0}

In real applications, the amount of cutting force depends on the bone structural stiffness
thickness of chip generated during drilling [20], however it always contains some harmonic
frequencies which are integers products of spindle frequency due to the imbalance of the robot
effector. Let ω denote the effector frequency, and then the drilling force can be described as
F(t)= 𝑓𝑜 +∑𝐼𝑖=1 𝑓𝑖 𝑠𝑖𝑛(𝑖𝜔𝑡) (7)
Where 𝑓𝑜 denote the direct current of the drill, while 𝑓𝑖 is the amplitude of ith harmonic.
If F(t) = 𝑓𝑖 𝑠𝑖𝑛(𝑖𝜔𝑡), the steady-state solution of equation (7) is
𝑓1 (𝐾𝑏 +𝐾𝑙 −𝑀𝜔2 )sin(𝜔𝑡)
𝑑𝑙 (t)= (8)
𝑀𝑚𝜔4 −𝑚𝐾𝑙 𝜔2 −𝑀𝐾𝑙 𝜔2 −𝑚𝐾𝑏 𝜔2 +𝐾𝑙 𝐾𝑏

The stiffness of the femur 𝐾𝑙 is much larger than𝐾𝑏 which can be calculated from the geometrical
data and properties of the femur. The length of the femur is considered to be 85.68mm, and the
diameter and thickness are 32.45mm and 7.5mm respectively. The Young’s modulus E = 2.130
GPa and the bone density is given as 1100 kg/m3 [17]. By substituting all these into equations

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 (1) and (2), we got 3.80×106 N/m and 1.9 × 10106 N/m respectively. At a set speed of 100 rpm,
when 𝜔 =3.140rad/s, m𝜔2 can be obtained by direct substitution.
Accepted Article
3.2 Finite Element Modeling of Femur
The CAD model of the femur sample was developed in SolidWorks (version 2016) by
transforming 2D geometry into 3D using an STL file [20]. Figures 8(a) and 8(b) depict the layout
of the vibration characteristics of the bone drilling using finite element analysis (FEA).The
material properties used for developing the model are given in Table 3. It is worth noting that the
CAD model was obtained in accordance with the external geometric features of the femur. Since
bone is an example of a natural composite material and its properties vary from point to point,
some internal details such as the marrow thickness of the femur were approximated because the
dimensions of the marrow cavity are difficult to determine due to its hollow imprint inside the
bone. Bone tissue behavior under compressive loading as regards the mechanical properties and
its failure limit shows a significant dependency on the density of the material. Bone tissue is a
two-phase material, mechanically. First it behaves as an elastic material, and after a certain point;
the behavior becomes plastic, as illustrated in figure 9. The 3D model element used has the
characteristics of high deflection, plasticity, hyper elasticity, creep, large strain capabilities, and
stress stiffness [21].

(a) (b)

Figure 8(a and b)Anatomy Femur model mesh and 3D CAD of bovine femur

Table 3. Materials Properties [22]

Young’sModulus (GPa) Density (kg/m3) Poisons Ratio

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Accepted Article 2.130 1100 0.3

The failure criterions of the fracture bone can be known by two points (see figure 9):
• Changes between the elastic (reversible) and the inelastic behavior (begin of the permanent
damage): This is indicated between points B and D
→ Yield point
• Stress at the ultimate failure point C → tensile strength
Generally, the mechanical properties of bones depend on the direction of applied load. The
maximum strength is usually along the longitudinal direction (compression). Conversely, a load
case applied transversal to the central axis of the bone (shear stress) shows the lowest strength.
Thus, we can say that the stiffness of the bone is largest in the longitudinal direction and lowest
perpendicular to the central axis of the bone.

Figure 9 Force-deformation curve of bones with deformation region under loading

3.3 Vibration Characteristics of the Femur under loading.

ANSYS software was used to determine the natural frequency of the modeled femur while
cutting forces were acting on it. The behavior at different cutting forces and natural frequencies
were examined. Modal frequencies at various cutting forces are shown in Table 3; while other
parameters such as varying bone density were used later on to calculate the first four (4) natural
frequencies of the standard femur. Our results (summarized in Table 6) show that the natural

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 frequency of the bone changes with bone density, which is in agreement with Couteau et al.[23].
For undamped free vibration analysis, the damping and external excitation force are zero ([c] =0,
Accepted Article
[F] =0), therefore equation (1) can be represented in matrices as shown in equation (9) as;
𝑥𝑏̈ (𝑡) 𝑥𝑏 (𝑡)
𝑦𝑏̈ (𝑡) 𝑦 (𝑡)
[M] 𝑧 ̈ (𝑡) + [K]{ 𝑏 }= 0 (9)
𝑏 𝑧𝑏 (𝑡)
{𝜃𝑏̈ (𝑡)} 𝜃𝑏 (𝑡)
The solution of the above equation can be written as
{x}={X} eiωt (10)
where {X}, can also be represented by {Y}, {Z} since they are all the amplitudes of the
vibration. The amplitudes of vibration of all the masses (mode shape or eigenvector's) depends
on this application and ω is the Eigen frequency (rads-1), so the equation (9) reduces to

([K] - ω2 [M]) {X}= 0 (11)

If we replace ω2 by λ the equation (11) becomes a linear problem in matrix algebra {𝑋 𝑖 } which
has nonzero solution, and the coefficient matrix must be equal zero. Each eigenvector{X} and
corresponding eigen values {ω2𝑖 } will be solved using ANSYS.
Table 5 Deformation, stress and strain of bone at varying force

Maximum Force (𝑭𝑪 ) 100(N) (150N)

Deformation (mm) 0.033708 0.050562
Maximum Stress (MPa) 4.6585 6.9878
Maximum Strain (mm/mm) 2.8889e-5 4.3334e-5

Figure 10 Femur bone vibration characterization to deformation, stress and strain at 100N Free –
fixed end

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Accepted Article
Figure 11 Femur bone drill vibration characterization to deformation, stress and strain at 150N
Free –fixed end
Table 6 Comparison of Present study of Modal shape results with Couteau etal.(1998) & Khalil et al
(1981) results.

𝑭𝒏𝒖𝒎 (Hz) 𝑭𝒆𝒙𝒑 (Hz) 𝑭𝒆𝒙𝒑 (Hz)

Present study Couteau et al [10] Alizad et al.[12]

92.306 301.6 250

106.13 353.3 315

662.26 612.0 563

791.65 886.6 825

903.68 931.6 879

3rd Mode shape

1st Mode shape 2nd Mode shape

4th Mode shape 5th Mode shape

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 Figure 12 Comparison of Present study of Modal shape results with Couteauetal(1998) & Khalil
et al (1981)
Accepted Article
4.0 Result and Analysis
The forces and vibration signals caused by the drilling force acting on the bone at varying
damper air pressure and robot spindle speed (as shown in figure 13-16) were obtained using the
EMS 309 data acquisition system. Following that, the data in Excel file format was exported to
MATLAB (R2015b) for analysis. In all the results obtained, it could be observed that the
frequencies and amplitudes of the vibration reduced within the pressure range of 4-6 bar at a
robot effector spindle speed of 1000 rpm, thus highlighting the best pressure to get minimal
vibration. While there was a reduction in vibration in all the cases considered, it could also be
seen that the drilling force at different components was reduced significantly. The reduction in
both cases could be attributed to the synchronized soft clamping fixation system which absorbed
the vibration during the femur drilling and at the same time minimized the cutting forces. The
study clearly proved that a synchronized soft clamping fixation system can be employed to
absorb vibration during femur bone drilling and, at the same time, cutting forces can be accessed.
This concept can be used as a template to alleviate any further complications to already fractured
bone and delicate surrounding tissues.

(a) Un-damped Vibration

(b) Damped Vibration (4kpa)

Figure 13 Force and Vibration results when Un-damped and damped at balloon pressure (4bar)
with Robot spindle speed of 1000rpm

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Accepted Article
(a) Un-damped Vibration

(b) Damped Vibration (6kpa)

Figure 14 Force and Vibration results when Un-damped and damped at balloon pressure (6bar)
with Robot spindle speed of 1000rpm

(a) Un-damped Vibration

(b) Damped Vibration (6kpa)

Figure 15 Force and Vibration results when Un-damped and damped at balloon pressure (4bar)
with Robot spindle speed of 1500rpm

(a) Un-damped Vibration

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Accepted Article
(b) Damped Vibration (6kpa)

Figure 16 Force and Vibration results when Un-damped and damped at balloon pressure (4bar)
with Robot spindle speed of 1500rpm

4.0 CONCLUSION
The efficacy of a robot assisted femoral shaft drilling system was enhanced by introducing a
synchronized balloon air damping mechanism. Experiments were conducted by varying the
balloon’s air pressure within the range of 4bar to 6bar at a robot effector spindle speed range of
1000 to 1500 rpm. Two stages of testing were carried out with both un-damped bone drilling and
a synchronized air balloon damper. From the experiments, the force and vibration are seen to be
reduced around balloon air pressure of 6 bars running at a robot spindle speed of 1500rpm. This
established the fact that the vibration on a bone is mostly absorbed at a damper pressure range of
6 bar, a pressure at which the maximum damping can be experienced. However, when the
pressure is reduced below the range considered in this experiment, there will be no vibration
absorption. On the other hand, when the pressure is increased, the balloons become too turgid and
the vibration will increase out-rightly. Conclusively, this research shows that the designed robot
can be used to reduce the drilling force and vibration during surgical intra-operative femur bone
repair simultaneously. The concept introduced can serve as a control measure and provide
surgeons with real-time information that can assist them in effective drilling and repair of
fractured bone within control and safe margins. More importantly, complications such as drill
breakage and micro-cracks are likely to be averted during surgical bone drilling by employing the
method introduced.

Acknowledgment

This project was supported by the Postgraduate Research & Practice Innovation Program of
Jiangsu Province under Grant KYCX18_0065. The corresponding author is Xingsong Wang (e-
mail:xswang@seu.edu.cn).

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