A Motion Planning Approach to Automatic Obstacle Avoidance during Concentric Tube Robot Teleoperation

Concentric tube robots are thin, tentacle-like devices that can move along curved paths and can potentially enable new, less invasive surgical procedures. Safe and effective operation of this type of robot requires that the robot’s shaft avoid sensitive anatomical structures (e.g., critical vessels...

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Veröffentlicht in:IEEE Int Conf Robot Autom
Hauptverfasser: Torres, Luis G., Kuntz, Alan, Gilbert, Hunter B., Swaney, Philip J., Hendrick, Richard J., Webster, Robert J., Alterovitz, Ron
Format: Artigo
Sprache:Inglês
Veröffentlicht: 2015
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Article
Online Zugang:https://ncbi.nlm.nih.gov/pmc/articles/PMC4578310/
https://ncbi.nlm.nih.gov/pubmed/26413381
https://ncbi.nlm.nih.govhttp://dx.doi.org/10.1109/ICRA.2015.7139513
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