End-Effector Path Planning and Collision Avoidance for Robot-Assisted Surgery

被引:6
作者
Quoc Cuong Nguyen [1 ]
Kim, Youngjun [2 ]
Park, Sehyung [2 ]
Kwon, HyukDong [1 ]
机构
[1] Seoul Natl Univ Sci & Technol, Grad Sch Nano IT Design Fus, 232,Gongneung Ro, Seoul 01811, South Korea
[2] Korea Inst Sci & Technol, Ctr Bion, 5,Hwarang Ro 14 Gil, Seoul 02792, South Korea
关键词
Path planning; Medical robot; Collision detection; Collision avoidance; Optimization; ANTERIOR CRUCIATE LIGAMENT; DOUBLE-BUNDLE; RECONSTRUCTION; SYSTEM; NAVIGATION; PLACEMENT; TUNNEL;
D O I
10.1007/s12541-016-0197-3
中图分类号
T [工业技术];
学科分类号
08 ;
摘要
The limited workspace and potential for collision between the robot arm and surrounding environment are challenges in robot assisted surgery. In robot-assisted surgical procedures, the surgical robot's end-effector must reach the patient's anatomical targets without collision with the patient or surrounding instrument. This paper proposes a novel end-effector path planning method for a robot-assisted surgical system. A collision detection and avoidance method was also developed to create a collision-free path to enhance patient safety. The proposed algorithm also addresses how to update the planned path when the patient moves during a surgical procedure. Experimental results showed that the proposed method successfully solves the path planning and collision avoidance problem in robot-guided surgery.
引用
收藏
页码:1703 / 1709
页数:7
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