Comparative Analysis of Cutting Forces, Torques, and Vibration in Drilling of Bovine, Porcine, and Artificial Femur Bone with Considerations for Robot Effector Stiffness

Table 6

Comparison of the present experimental results with prior experimental data for surgical drilling into human and animal bone.

Research type	Type specimen	Type result force (N)
Present	Bovine femur	12.34 to 20.07
Present	Porcine femur	8.14 to 11.25
Present	Artificial femur	3.86 to 5.62
Tsai et al. [33].	Human femoral trochanter (cancellous)	1 to 1.5
Tsai et al. [33].	Human femoral trochanter (cortical)	0 to 50
Powers [12]	Porcine vertebra	0.6 to 29.6
Alams et al. [13]	Bovine femoral shaft	25 to 85
Hillery et al. [34]	Bovine tibial shaft	24 to 48
Lee et al. [35]	Bovine tibial shaft	0 to 20
Troy.MacAvelia et al. [17]	Human femoral shaft	140.2 to 186.3
Troy.MacAvelia et al. [17]	Artificial femoral shaft	67.2 to 53.3
Torque (N·mm)
Present	Bovine femur	24.2 to 41.2
Present	Porcine femur	21.6 to 37.0
Present	Artificial femur	6.7 to 13.6
Tsai et al. [33]	Human femoral trochanter (cancellous)	2 to 120
Tsai et al. [33]	Human femoral trochanter (cortical)	0 to 10
Troy.MacAvelia et al. [17]	Human femoral shaft	16.9 to 16.
Troy.MacAvelia et al. [17]	Artificial femoral shaft	42.9 to 8.4
Alams et al. [13]	Bovine femoral shaft	10–23
Allotta et al. [36]	Porcine femoral shaft	55
Hillery et al. [34]	Bovine tibial shaft	10 to 14.5
Lee et al. [35]	Bovine tibial shaft	0 to 38