• Indira Karymsakova
  • Natalya Denissova
  • Saule Kumargazhanova
  • Iurii Krak


Implant, Plasma spraying, Classification, Virtual robot simulator, Spline-interpolation.


The problem of a robotic system creating for plasma spraying of biocompatible coatings on complex shaped implants based on a Fanuc LR Mate 200 id manipulation robot and modeling spraying trajectories using a virtual simulator Roboguide V6.40 is considered. Parametric classification of implants is carried out whenever possible by plasma spraying using robotic devices. The main procedures for implants preparation for spraying were investigated. The 3D UNIVERSE scanner is used for scanning the implant and building its spatial model, the 3D model of the implant is being developed in Geomagic Design X. To build the manipulator program movements taking into account the speed of movement, it is proposed to use fourth order splines, which is built in the Matlab tools with finding of the optimal close spline to the original values. As the example of Cox femoral joint implant, a simulation of robot motion is performed using a virtual simulator Roboguide V6.40 with the possibility of transferring the program to a real Fanuc LR Mate 200 id robot.


A. Vardelle, C. Moreau, N. J. Themelis, C. Chazelas, “Perspective on plasma spray technology,” Plasma Chem. Plasma Process, vol. 35, pp. 491–509, 2015.

B. Fotovvati, N. Namdari, A. Dehghanghaddiko-laei, “On coating techniques for surface protection: A review,” Journal of Manufacturing and Materials Processing, vol. 3, issue 1, pp. 1-22, 2019.

J. Cizek, J. Matejicek, “Medicine meets thermal spray technology: A review of patents,” Journal of Thermal Spray Technology, vol. 27, issue 8, pp. 1251-1279, 2018.

L. Pawlowski, The Science and Engineering of Thermal Spray Coating, 2th Edition, Wiley, 2008, 656 p.

R.B. Heimann, “Thermal spraying of biomaterials,” Surface and Coatings Technology, vol. 201, issue 5, pp. 2012-2019, 2006.

B.-H.Lee, C. Lee, D.-G. Kim, K.C. K. H. Lee, Y. DoKim, “Effect of surface structure on biomechanical properties and ossteointegration,” Materials Science & Engineering C, vol. 28, issue 8, pp. 1448-1461, 2008.

Yu. Borisov, A. Kislitsa, and, S. Voynarovich, “Microplasma wire spraying,” Proceedings of the International Thermal Spray Conference and Exposition ITSC 2004 “Thermal Spray Solutions Advances in Technology and Application, Osaka Japan, May 10-12, 2004, pp. 657-661.

D. Alontseva, Yu. Borisov, S. Voinarovych, O. Kyslytsia, “Development of technology of microplasma spraying for the application of biocompatible coatings in the manufacture of medical implants,” Przegląd Elektrotechniczny, vol. 7, pp. 94-97, 2018.

J. R.C. Tucker, Introduction to Coating Design and Processing, ASM Handbook, Volume 5A, Thermal Spray Technology, 2013, pp.76-88.

MSH Techno. [Online]. Available at:

Vacuum systems and pumps. [Online]. Available at:

Thin film spraying technology. [Online]. Available at:

P. Honigmann, N. Sharma, B. Okolo, U. Popp, B. Msallem and F. M. Thieringer, “Patient-specific surgical implants made of 3D printed PEEK: Material, technology, and scope of surgical application,” BioMed Research International, vol. 2018, Article ID 4520636, pp. 1-8,

Spinal health. [Online]. Available at:

R. Bosco, J. v.-D. Beuken, S. Leeuwenburgh, J. Jansen. “Surface engineering for bone implants: a trend from passive to active surfaces,” Coatings, no. 2, pp. 95-119, 2012.

Y. Kondratenko, G. Khademi, V. Azimi, D. Ebeigbe, M. Abdelhady, S.A. Fakoorian, T. Barto, A. Roshanineshat, I. Atamanyuk, D. Simon, “Robotics and prosthetics at Cleveland state university: Modern information, communication, and modeling technologies,” Communications in Computer and Information Science, vol. 783, pp. 133-155, 2017.

T. Sobh, R. Mihali, A. Sachenko, “Fully autonomous web based virtual robot prototyping and manufacturing,” Proceedings of the 5th Biannual World Automation Congress, WAC 2002, ISORA 2002, ISIAC 2002 and ISOMA 2002, Orlando, USA, June 9-13, 2002, vol.14, pp. 441-446.

Yu. V. Krak, “Coordination approach to the organization of motion of manipulation robots,” Journal of Automation and Information Sciences, vol. 29, issue 2, pp. 22-29, 1997.

I.B. Karymsakova, Yu.V. Krak, N.F. Denissova, “Criteria for implants classification for coating implants using plasma spraying by robotic complex,” Eurasian Journal of Mathematical and Computer Applications, vol. 5, issue 3, pp.44-52, 2017.

3D Today. [Online]. Available at:

Universal 3D scaner Scan3D UNIVERSE. [Online]. Available at:

U.S. Zavyalov, B.I. Kvasov, V.L. Miroshnichenko, Methods of Spline-Function, Moscow, Nauka, 1980, 352 p. (in Russian).

Yu.V. Krak, A.V. Barmak, E.M. Baraban, “Usage of NURBS-approximation for construction of spatial model of human face,” Journal of Automation and Information Sciences, vol. 43, issue 2, pp. 71-81, 2011.

C.B. Moler, Numerical Computing with MATLAB. [Online]. Available at:

Matlab & Toolboxes. [Online]. Available at:

W. Schollenberger, Roboguide V6.40 Manual. Copyright ООО Fanuc Robotics Russia, 94 p. (in Russian)

Roboguide. [Online]. Available at:

Yu.A. Bahmutskii, O.V. Gromyko, “Modelling and programming of robotized complex in Fanuc Roboguide package,” Theoretical and Applied Mechanics, Minsk, no. 28, pp. 244-247, 2013. (in Russian).




How to Cite

Karymsakova, I., Denissova, N., Kumargazhanova, S., & Krak, I. (2020). ROBOTIC PLASMA SPRAYING SYSTEM FOR IMPLANTS OF COMPLEX STRUCTURE: 3D MODEL AND MOTION PLANNING. International Journal of Computing, 19(2), 224-232. Retrieved from