Interference free surgical tool-path generation in multi-axis bone milling robot

Naohiko Sugita, Taiga Nakano, Yoshikazu Nakajima, Kazuo Fujiwara, Nobuhiro Abe, Toshifumi Ozaki, Masahiko Suzuki, Mamoru Mitsuishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

3 Citations (Scopus)

Abstract

Tool interference causes serious damage to surrounding soft tissue in minimally invasive orthopedic surgery with a milling robot. The objective of this study is to avoid the collision of cutting tool with complicated shapes, and a novel approach of interference-free toolpath generation in a short intraoperative time is proposed. In order to resolve this issue, we propose the following two methods: intraoperative modeling of soft tissues as an interference area and interference-free toolpath generation based on the model. A model is constructed to represent the opening area and the internal tissues by using a 3-dimensional optical position sensor to measure them. Based on the constructed model, interference-free toolpath is immediately determined by the preliminary definition of evacuating direction. The effectiveness of the proposed method is evaluated with artificial models on the system that the authors have developed so far. A tool contact force against the model was measured by a force sensor mounted on the cutting tool. The result revealed that the tool interference was greatly reduced by implementing the proposed method.

Original languageEnglish
Title of host publication2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
Pages790-795
Number of pages6
DOIs
Publication statusPublished - 2010
Event2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 - Tokyo, Japan
Duration: Sep 26 2010Sep 29 2010

Publication series

Name2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010

Other

Other2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010
CountryJapan
CityTokyo
Period9/26/109/29/10

ASJC Scopus subject areas

  • Artificial Intelligence
  • Biomedical Engineering

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  • Cite this

    Sugita, N., Nakano, T., Nakajima, Y., Fujiwara, K., Abe, N., Ozaki, T., Suzuki, M., & Mitsuishi, M. (2010). Interference free surgical tool-path generation in multi-axis bone milling robot. In 2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010 (pp. 790-795). [5627008] (2010 3rd IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, BioRob 2010). https://doi.org/10.1109/BIOROB.2010.5627008