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

Nathan Abraham·Alon Wolf·Howie Choset
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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.

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HumansOrthopedic ProceduresRoboticsSurgery, Computer-AssistedJournal ArticleReview

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Nathan Abraham, Alon Wolf, Howie Choset. 2006. A potential function approach to surface coverage for a surgical robot.. https://doi.org/10.3109/10929080500432173

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