A potential function approach to surface coverage for a surgical robot

Nathan Abraham, Alon Wolf, Howie Choset
2006 Journal of Computer-Aided Surgery  
This paper outlines considers some implementation issues in a path planner to achieve uniform coverage of a non-Euclidean surface embedded in R 3 . The target application for this planner is bone removal in orthopaedic surgery, but this technique can 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 a bone burring robot to visit, and then navigate between these way points using potential functions.
doi:10.3109/10929080500432173 pmid:16531337 fatcat:tatidstsxzb4pmdif3qlrwcqxu