抄録
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 soft tissue, and a novel approach of interference-free toolpath generation in a short processing time is proposed. The unknown shape of soft tissue is intraoperatively modeled as interference area, and interference-free tool posture is immediately determined by the preliminary definition of evacuating direction based on the model. The effectiveness of the proposed method is evaluated with artificial models on the system that the authors have developed so far.
