Toolpath Determination for Multi-axis Medical Machine Tool

Abstract

Toolpath generation and optimization are considered to be challenging problems in minimally invasive orthopedic surgery with a milling robot. The objective of this study is to minimize the collision of cutting tool with soft tissue, and 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, and a geometric optimization approach based on the model is proposed to improve the toolpath. Case studies show the validity of this approach. Software is developed for the application and the effectiveness is evaluated with a cadaveric bone.