Quoc Cuong Nguyen Kim, Youngjun Park, Sehyung Kwon, HyukDong 2024-01-20T03:00:29Z 2024-01-20T03:00:29Z 2021-09-04 2016-12 2234-7593 https://pubs.kist.re.kr/handle/201004/123389 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. English KOREAN SOC PRECISION ENG ANTERIOR CRUCIATE LIGAMENT DOUBLE-BUNDLE RECONSTRUCTION SYSTEM NAVIGATION PLACEMENT TUNNEL End-Effector Path Planning and Collision Avoidance for Robot-Assisted Surgery Article 10.1007/s12541-016-0197-3 1 INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v.17, no.12, pp.1703 - 1709 INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING 17 12 1703 1709 scie scopus kci ART002170666 000389867900012 2-s2.0-85003712725 Engineering, Manufacturing Engineering, Mechanical Engineering Article ANTERIOR CRUCIATE LIGAMENT DOUBLE-BUNDLE RECONSTRUCTION SYSTEM NAVIGATION PLACEMENT TUNNEL Path planning Medical robot Collision detection Collision avoidance Optimization