Dynamic Motion Planning for Autonomous Assistive Surgical Robots
| Main Authors: | Alessio Sozzi, Marcello Bonfe, Saverio Farsoni, Giacomo De Rossi, Riccardo Muradore |
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| Format: | Proceeding poster Journal |
| Terbitan: |
, 2019
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| Subjects: | |
| Online Access: |
https://youtu.be/EjbaLugmpnI |
Daftar Isi:
- This work presents a robot trajectory generation solution that is fully executable in real-time and that can reactively adapt to both dynamic changes of the environment and fast reconfiguration of the robotic task. The proposed motion planner extends the method based on Dynamical Systems to cope with the peculiar kinematics of surgical robots for laparoscopic operations, subject to the mechanical constraint enforced by the fixed point of insertion into the abdomen of the patient.