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A potential function approach to surface coverage for a surgical robot.

Nathan Abraham1, Alon Wolf, Howie Choset

  • 1The Robotics Institute, Pennsylvania, USA.

Computer Aided Surgery : Official Journal of the International Society for Computer Aided Surgery
|March 15, 2006
PubMed
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This study presents a path planner for uniform surface coverage in orthopaedic surgery bone removal. It uses cellular decomposition and potential functions for precise robot navigation and bone-burring tasks.

Area of Science:

  • Robotics and Automation
  • Computational Geometry
  • Medical Engineering

Background:

  • Achieving uniform surface coverage is critical for robotic surgical tasks like bone removal.
  • Non-Euclidean geometry presents challenges for traditional path planning algorithms.
  • Accurate navigation is essential for effective and safe bone burring in orthopaedic surgery.

Purpose of the Study:

  • To address implementation challenges in path planning for uniform coverage of non-Euclidean bony surfaces.
  • To develop a robust method for guiding robotic bone removal in orthopaedic surgery.
  • To adapt surface coverage techniques for general applications beyond the medical field.

Main Methods:

  • Utilized cellular decomposition to segment the bony surface into manageable regions.

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  • Employed sweep-line algorithms to generate a sequence of way-points for efficient coverage.
  • Implemented potential functions for path navigation between way-points, ensuring smooth robot movement.

    • Main Results:

    • Successfully generated a set of meaningful way-points for comprehensive surface coverage.
    • Demonstrated the feasibility of using potential functions for robot navigation in complex surgical environments.
    • Validated the approach for uniform bone removal planning in R3 space.

    Conclusions:

    • The proposed path planner effectively achieves uniform coverage of complex bony surfaces.
    • The method provides a foundation for advanced robotic bone removal in orthopaedic surgery.
    • The technique is adaptable to various general surface-coverage problems requiring precise robotic control.