A2 Tool Path Generation to Protect Soft Tissue with Multi-axis Milling Machine(Digital design and digital manufacturing(CAD/CAM))

Abstract

Tool interference causes 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 tool path generation is proposed: intraoperative modeling of tissues and interference-free tool path generation. A model is constructed by using a 3-dimensional optical position sensor. Based on the model, interference-free tool path is immediately determined by preliminary definition of evacuating direction. The effectiveness of the proposed method is evaluated with artificial models on the system that we have developed so far.