Surgical retraction of non-uniform deformable layers of tissue: 2D robot grasping and path planning.
Rik JansenKris K. HauserNuttapong ChentanezA. Frank van der StappenKenneth Y. GoldbergPublished in: IROS (2009)
Keyphrases
- path planning
- mobile robot
- minimally invasive surgery
- degrees of freedom
- path planning algorithm
- obstacle avoidance
- tissue deformation
- multi robot
- deformable models
- motion planning
- dynamic environments
- vision system
- collision avoidance
- manipulation tasks
- path planner
- multiple robots
- intraoperative
- surgical robot
- human robot interaction
- collision free
- unknown environments
- potential field
- indoor environments
- soft tissue
- autonomous navigation
- landmark recognition
- search and rescue
- image guided
- optimal path
- navigation tasks
- robot path planning
- dynamic and uncertain environments
- trajectory planning
- autonomous vehicles
- autonomous robots
- configuration space
- robotic systems
- medical images
- robot assisted
- minimally invasive
- real time