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

^*Autor correspondiente de este trabajo

Université de Montpellier II

Producción científica: Contribución a una conferencia › Artículo › revisión exhaustiva

5 Citas (Scopus)

Resumen

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.

Idioma original	Inglés
Páginas	1475-1480
Número de páginas	6
Estado	Publicada - 2002
Publicado de forma externa	Sí
Evento	2002 IEEE/RSJ International Conference on Intelligent Robots and Systems - Lausanne, Suiza Duración: 30 sept 2002 → 4 oct 2002

Conferencia

Conferencia	2002 IEEE/RSJ International Conference on Intelligent Robots and Systems
País/Territorio	Suiza
Ciudad	Lausanne
Período	30/09/02 → 4/10/02

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@conference{104841a881b84a8ea32e8458afce88e1,

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.",

author = "Mica{\"e}l Michelin and Etienne Dombre and Philippe Poignet and Fran{\c c}ois Pierrot and Laurent Eckert",

year = "2002",

language = "English",

pages = "1475--1480",

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

}

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

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