Personalized 3D Printing of Artificial Vertebrae: A Predictive Bone Density Modeling Approach for Robotic Cutting Applications

摘要

Robotic vertebral plate cutting poses significant challenges due to the complex bone structures of the lumbar spine, which consist of varying densities in cortical and cancellous regions. This study addresses these challenges by developing a predictive model for robotic vertebral plate cutting force and bone quality recognition through the fabrication of artificial vertebrae with controlled, consistent bone density. To address the variability in bone density between cortical and cancellous regions, CT data are utilized to predict target bone density, serving as a foundation for determining the optimal 3D printing process parameters. The proposed methodology integrates a Response Surface Methodology (RSM), Back Propagation (BP) neural network, and genetic algorithm (GA) to systematically evaluate the effects of key process parameters, such as the filling density, material flow rate, and layer thickness, on the printed vertebrae’s density. A one-factor experimental approach and RSM-based central composite design are applied to build an initial bone density prediction model, followed by Sobol’s sensitivity analysis to quantify the influence of each parameter. The GA-BP neural network model is then employed to rapidly and accurately identify optimal printing parameters for different bone layer densities. The resulting optimized models are used to fabricate personalized artificial lumbar vertebrae, which are subsequently validated through robotic cutting experiments. This research not only contributes to the advancement in personalized 3D printing technology but also provides a reliable framework for developing patient-specific surgical planning models in robot-assisted orthopedic surgery.