Interference Free Tool Path Generation in Multi-Axis Milling Machine for Orthopedic Surgery
Taiga Nakano*1, Naohiko Sugita*1, Takeharu Kato*2, Kazuo Fujiwara*3, Nobuhiro Abe*3, Toshifumi Ozaki*3, Masahiko Suzuki*4,
and Mamoru Mitsuishi*1
*1The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
*2HalleyValey Co., Ltd.
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 complicated shapes, and a novel approach of interference-free toolpath generation in a short intraoperative time is proposed. In order to resolve this issue, we propose the following two methods: intraoperative modeling of soft tissues as an interference area and interference-free toolpath generation based on the model. A model is constructed to represent the opening area and the internal tissues by using a 3-dimensional optical position sensor to measure them. Based on the constructed model, interference-free toolpath is immediately determined by the preliminary definition of evacuating direction. The effectiveness of the proposed method is evaluated with artificial models on the system that the authors have developed so far. A tool contact force against the model was measured by a force sensor mounted on the cutting tool. The result revealed that the tool interference was greatly reduced by implementing the proposed method.
and Mamoru Mitsuishi, “Interference Free Tool Path Generation in Multi-Axis Milling Machine for Orthopedic Surgery,” Int. J. Automation Technol., Vol.3, No.5, pp. 514-522, 2009.
- R. H. Taylor, B. D. Mittelstadt., H. A. Paul, W. Hanson, P. Kazanzides, J. F. Zuhars, B. Williamson, B. L. Musits, E. Glassman, and W. L. Bargar, “An Image-directed Robotic System for Precise Orthopedic Surgery,” IEEE Trans. on Robotics and Automation, Vol.10, No.3, pp. 261-275, 1994.
- K. Morishige, Y. Takeuchi, and K. Kase, “Tool Path Generation Using C-space for 5-axis Control Machining,” Transactions of the ASME, Journal of Manufacturing Science and Engineering, Vol.121, No.1, pp. 144-149, 1999.
- C.-S. Jun, K. Cha, and Y.-S. Lee, “Optimizing Tool Orientations for 5-axis Machining by Configuration-space Search Method,” Computer-Aided Design 35(6), pp. 549-566, 2003.
- M. Morikawa, T. Ishida, K. Teramoto, and Y. Takeuchi, “5-Axis Control Tool Path Generation Using Curved Surface Interpolation,” JSME Int. Journal Series C, Vol.49, No.4, pp. 1209-1214, 2006.
- B. Lauwers, P. Dejonghe, and J. P. Kruth, “Optimal and Collision Free Tool Posture in Five-axis Machining Through the Tight Integration of Tool Path Generation and Machine Simulation,” Computer-Aided Design 35(5), pp. 421-432, 2003.
- Y.-W. Hsueh, M.-H. Hsueh, and H.-C. Lien, “Automatic Selection of Cutter Orientation for Preventing the Collision Problem on a Five-axis Machining,” Int. Journal of Advanced Manufacturing Technology (32), pp. 66-77, 2007.
-  A. S. Ivanenko, S. S. Makahanov, and M.-A. Munlin, “New Numerical Algorithms to Optimize Cutting Operations of a Five-axis Milling Machine,” Applied Numerical Mathmatics, 49, pp. 395-413, 2004.
- M. Munlin and S. S. Makhanov, “Tool Path Generation, Simulation and Optimization of a Five-axis Milling Machine,” IEEE Region 10 Conf., pp. 609-612, 2004.
- N. Sugita, F. Genma, T. Osa, Y. Nakajima, T. Kato, and M. Mitsuishi, “Toolpath Determination for Multi-axis Medical Machine Tool,” Transactions of the Japan Society of Mechanical Engineers, C, Vol.74, No.743, pp. 1907-1913, 2008.
This article is published under a Creative Commons Attribution-NoDerivatives 4.0 International License.