Path planning under a penetration point constraint for minimally invasive surgery

Micaël Michelin; Etienne Dombre; Philippe Poignet; François Pierrot; Laurent Eckert

Path planning under a penetration point constraint for minimally invasive surgery

Micaël Michelin^*
, Etienne Dombre
, Philippe Poignet
, François Pierrot
, Laurent Eckert

^*Corresponding author for this work

Université de Montpellier II

Research output: Contribution to conference › Paper › peer-review

5 Citations (Scopus)

Abstract

This paper deals with a path planning algorithm for an anthropomorphic robot that must achieve motions (straight line, circle, helix) under the constraint of passing the forearm through a fixed point. This point simulates a penetration point (trocar) in minimally invasive surgery. It has to remain fixed with respect to the patient's body. The modeling and resolution of the constraint are presented. A geometric model and a path planning are proposed. Simulation results validate the algorithm.

Original language	English
Pages	1475-1480
Number of pages	6
Publication status	Published - 2002
Externally published	Yes
Event	2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Switzerland Duration: 30 Sept 2002 → 4 Oct 2002

Conference

Conference	2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	Switzerland
City	Lausanne
Period	30/09/02 → 4/10/02

Cite this

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title = "Path planning under a penetration point constraint for minimally invasive surgery",

abstract = "This paper deals with a path planning algorithm for an anthropomorphic robot that must achieve motions (straight line, circle, helix) under the constraint of passing the forearm through a fixed point. This point simulates a penetration point (trocar) in minimally invasive surgery. It has to remain fixed with respect to the patient's body. The modeling and resolution of the constraint are presented. A geometric model and a path planning are proposed. Simulation results validate the algorithm.",

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note = "2002 IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 30-09-2002 Through 04-10-2002",

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TY - CONF

T1 - Path planning under a penetration point constraint for minimally invasive surgery

AU - Michelin, Micaël

AU - Dombre, Etienne

AU - Poignet, Philippe

AU - Pierrot, François

AU - Eckert, Laurent

PY - 2002

Y1 - 2002

N2 - This paper deals with a path planning algorithm for an anthropomorphic robot that must achieve motions (straight line, circle, helix) under the constraint of passing the forearm through a fixed point. This point simulates a penetration point (trocar) in minimally invasive surgery. It has to remain fixed with respect to the patient's body. The modeling and resolution of the constraint are presented. A geometric model and a path planning are proposed. Simulation results validate the algorithm.

AB - This paper deals with a path planning algorithm for an anthropomorphic robot that must achieve motions (straight line, circle, helix) under the constraint of passing the forearm through a fixed point. This point simulates a penetration point (trocar) in minimally invasive surgery. It has to remain fixed with respect to the patient's body. The modeling and resolution of the constraint are presented. A geometric model and a path planning are proposed. Simulation results validate the algorithm.

UR - https://www.scopus.com/pages/publications/0036453849

M3 - Paper

AN - SCOPUS:0036453849

SP - 1475

EP - 1480

T2 - 2002 IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 30 September 2002 through 4 October 2002

ER -

Path planning under a penetration point constraint for minimally invasive surgery

Abstract

Conference

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