Toolpath Optimization for a Milling Robot for Minimally Invasive Orthopedic Surgery Naohiko Sugita, Fumiaki Genma, Yoshikazu Nakajima and Mamoru Mitsuishi School of Engineering, The University of Tokyo, Japan In the minimally invasive joint replacement, a problem of tool collision came to the geometric one. With geometric models, an algorithm to determine the tool attitude was proposed, and it enabled to generate the toolpath without the collision. The generated CL data was converted to the NC data in the post processor, and a cutting experiment was conducted. Toolpath generation with a redundant axis