Korean Journal of Computational Design and Engineering (한국CDE학회논문집)

Society for Computational Design and Engineering (한국CDE학회)
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Tool-path Generation for a Robotic Skull Drilling System

로봇을 이용한 두개골 천공 시스템의 공구 경로 생성

  • Chung, YunChan (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology)
  • 정연찬 (서울과학기술대학교 기계시스템디자인공학과)
  • Received : 2013.03.02
  • Accepted : 2013.04.03
  • Published : 2013.08.01
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Abstract

This paper presents a tool-path generation methods for an automated robotic system for skull drilling, which is performed to access to some neurosurgical interventions. The path controls of the robotic system are classified as move, probe, cut, and poke motions. The four motions are the basic motion elements of the tool-paths to make a hole on a skull. Probing, rough cutting and fine cutting paths are generated for skull drilling. For the rough cutting path circular paths are projected on the offset surfaces of the outer top and the inner bottom surfaces of the skull. The projected paths become the paths on the top and bottom layers of the rough cutting paths. The two projected paths are blended for the paths on the other layers. Syntax of the motion commands for a file format is also suggested for the tool-paths. Implementation and simulation results show that the possibility of the proposed methods.

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References

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