2A1-I12 低侵襲人工膝関節置換術支援のための工具経路生成法に関する研究(手術支援ロボティクス・メカトロニクス)

概要

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Toolpath generation and optimization is considered to be a challenging problem in the minimally invasive orthropedic surgery with a milling robot. The objective of this paper is to minimize the collision of the cutting tool with soft tissues. A novel approach of toolpath generation and optimization is proposed. A redundant axis is implemented to avoid collision with the robot. Some important components are modeled based on the physical requirements. A geometric optimization approach based on the model is proposed to improve the toolpath. Software is developed for this application.
2007-05-11