End-effector path planning and collision avoidance for robot-assisted surgical system
- End-effector path planning and collision avoidance for robot-assisted surgical system
- 박세형; 김영준; 응웬꾹끄엉; 권혁동
- Path planning; Medical robot; Collision detection; Collision avoidance; Optimization
- Issue Date
- International Journal of Precision Engineering and Manufacturing
- VOL 17, NO 12-1709
- The limited workspace and potential for collision between the robot arm and surrounding environment are challenges in robotassisted 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.
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