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http://dx.doi.org/10.7315/CADCAM.2013.243

Tool-path Generation for a Robotic Skull Drilling System  

Chung, YunChan (Department of Mechanical System Design Engineering, Seoul National University of Science and Technology)
Publication Information
Korean Journal of Computational Design and Engineering / v.18, no.4, 2013 , pp. 243-249 More about this Journal
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.
Keywords
Neurosurgical operation; Robotic surgery; Skull drilling; Tool-path generation;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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