Path planning under a penetration point constraint for minimally invasive surgery.
Micaël MichelinEtienne DombrePhilippe PoignetFrançois PierrotLaurent EckertPublished in: IROS (2002)
Keyphrases
- path planning
- minimally invasive surgery
- degrees of freedom
- mobile robot
- path planning algorithm
- dynamic environments
- collision avoidance
- intraoperative
- motion planning
- dynamic and uncertain environments
- obstacle avoidance
- multi robot
- robot path planning
- optimal path
- minimally invasive
- robotic assisted
- autonomous vehicles
- potential field
- multiple robots
- soft tissue
- configuration space
- unmanned aerial vehicles
- aerial vehicles
- autonomous robots
- vision system