Electronic Thesis and Dissertation Repository


Master of Engineering Science


Biomedical Engineering


Dr. Louis Miguel Ferreira

2nd Supervisor

Dr. Ovidiu-Remus Tutunea-Fatan

Joint Supervisor


Glenoid reaming is one of the most challenging milestones of the total shoulder arthroplasty (TSA) procedure. For a successful TSA, adequate bone resurfacing is required to ensure a well-conformed positioning of the implant onto the native bone.

In this study, a light-weight robot was employed to assert a prescribed thrust-force and reaming depth to mimic clinical practice. Reaming of bone-analogs indicated that specimen density had a linear relationship with reamer velocity and apparent machining stiffness. Human cadaveric bone studies confirmed a linear relationship between specimen density and reamer velocity in both subchondral and cancellous regions of the glenoid. A reaming operation mimicking version correction of glenoid was conducted in a position-controlled manner. A linear relationship was found between reamer-specimen contact surface and maximum reaming force. Findings of this study may be useful in simulator design and automation of this surgical procedure.

Available for download on Wednesday, August 31, 2022