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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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Detalles Bibliográficos
Publicado en:IEEE Int Conf Robot Autom
Main Authors: Torres, Luis G., Kuntz, Alan, Gilbert, Hunter B., Swaney, Philip J., Hendrick, Richard J., Webster, Robert J., Alterovitz, Ron
Formato: Artigo
Idioma:Inglês
Publicado: 2015
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Acceso en liña: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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