A potential function approach to surface coverage for a surgical robot

Computer Aided Surgery : Official Journal of the International Society for Computer Aided Surgery
Nathan AbrahamHowie Choset

Abstract

This paper considers some implementation issues in a path planner for achieving uniform coverage of a non-Euclidean bony surface embedded in R3 space. The target application for this planner is bone removal in orthopaedic surgery, but the technique can also be applied to other general surface-coverage problems. Specifically, we use cellular decomposition and sweep lines to generate a set of meaningful way-points for the bone-burring robot to visit, then navigate between these way-points using potential functions.

References

Oct 16, 2004·The Journal of Arthroplasty·Alan C Merchant

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Citations

Apr 7, 2009·The International Journal of Medical Robotics + Computer Assisted Surgery : MRCAS·S SongB Jaramaz
May 26, 2017·Medical & Biological Engineering & Computing·Heqiang TianLining Sun

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