Robot assisted laser bone processing -- Marking and cutting experiments

Burgner, Jessica; Müller, Meiko; Raczkowsky, Jörg; Wörn, Heinz
IEEE International Conference on Advanced Robotics (ICAR), pp. 1–6, 2009, ISBN -- 978-1-4244-4855-5., 2009
Robot assisted laser bone processing -- Marking and cutting experiments


Processing bony tissue using robot assisted laserablation is a promising new method, which facilitates tomanipulate bone inμmrange. Developing the first setup forrobot assisted laser processing of bone necessitates on the onehand suitable planning and simulation techniques. Especiallyplanning of the ablation pattern, i.e. the placement of singlelaser pulses is a crucial step. On the other hand the maximalachievable accuracy performing laser cutting is in the range ofthe single spot size of a laser pulse. Therefore the assembly ofall components and the methods applied for the execution is ofhigh importance.We established the first setup for robot assisted laser ablationof bone recently. The workflow starts with the planning ofthe marking or cutting geometry on a surface model of thepatient. Afterwards a simulation allows to verify the expectedof the procedure. In order to evaluate our system we performedmarking and cutting experiments, which are presented in thiscontribution. For the first time an osteotomy of cadaver femoralcow bone was performed using robot assisted laser ablation.