2A1-I12 Toolpath Generation Method for Robot-assisted Minimally Invasive Knee Arthroplasty

Abstract

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.