An Open Source Motion Planning Framework for Autonomous Minimally Invasive Surgical Robots
2021 IEEE International Conference on Autonomous Systems (ICAS)(2021)
Abstract
Planning and execution of autonomous tasks in minimally invasive surgical robotic are significantly more complex with respect to generic manipulators. Narrow abdominal cavities and limited entry points restrain the use of external vision systems and specialized kinematics prevent the straightforward use of standard planning algorithms. In this work, we present a novel implementation of a motion pl...
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Key words
Minimally invasive surgery,Medical robotics,Trajectory planning,Robot vision systems,Arms,Cameras,Manipulators
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