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dc.contributor.author박세형-
dc.contributor.author김영준-
dc.contributor.author응웬꾹끄엉-
dc.contributor.author권혁동-
dc.date.accessioned2021-06-09T04:17:20Z-
dc.date.available2021-06-09T04:17:20Z-
dc.date.issued2016-12-
dc.identifier.citationVOL 17, NO 12-1709-
dc.identifier.issn2234-7593-
dc.identifier.other47986-
dc.identifier.urihttps://pubs.kist.re.kr/handle/201004/65202-
dc.description.abstractThe 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.-
dc.publisherInternational Journal of Precision Engineering and Manufacturing-
dc.subjectPath planning-
dc.subjectMedical robot-
dc.subjectCollision detection-
dc.subjectCollision avoidance-
dc.subjectOptimization-
dc.titleEnd-effector path planning and collision avoidance for robot-assisted surgical system-
dc.typeArticle-
dc.relation.page17031709-
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