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Autonomous Precision Milling of Biological Structures via Generic Anatomical Priors and Active Boundary Perception

arXiv · AI, language, vision and robotics · article · Sep 11, 2026 · UTC

Autonomous precision milling of biological structures is challenged by incomplete knowledge of target geometry, local material thickness, and critical internal boundaries. Subject-specific preoperative models can address geometric and thickness variations, but static models cannot determine boundary status encountered during execution, while repeated target-specific imaging limits scalability. This article presents an uncertainty-aware autonomous milling framework that assigns complementary roles to generic anatomical priors and active boundary perception. A generic anatomical prior provides c

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