A potential function approach to surface coverage for a surgical robot.
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.
Abraham
Nathan
N
The Robotics Institute, Pennsylvania, USA.
Wolf
Alon
A
Choset
Howie
H
D006801:Humans; D019637:Orthopedic Procedures / Q000379:methods*; D012371:Robotics; D025321:Surgery, Computer-Assisted / Q000379:methods*