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The generation and optimization of tool paths are considered to be challenging problems for the use of a milling robot in minimally invasive orthopedic surgery. The objective of this study was to minimize the collision of the cutting tool with soft tissue, and we propose a novel approach to tool path generation and optimization. Starting with the physical requirements, we modeled some important components, and on the basis of this model, we propose a geometric optimization approach to improve the tool path. Case studies show the validity of this approach. We developed software for the application, and then evaluated the effectiveness of the application.
Date of Publication: June 2010