Trajectory planning with task constraints in densely filled environments
| Autor: | Bogdan Mihai Maris, Paolo Fiorini, Debora Botturi |
|---|---|
| Rok vydání: | 2010 |
| Předmět: |
robotisc
Engineering Point of interest business.industry Quantitative Biology::Tissues and Organs Physics::Medical Physics Collision robotisc planning Task (project management) Obstacle avoidance Path (graph theory) Trajectory Computer vision Robotic surgery Artificial intelligence planning business Collision avoidance ComputingMethodologies_COMPUTERGRAPHICS |
| Zdroj: | IROS |
| DOI: | 10.1109/iros.2010.5650483 |
| Popis: | In this paper the problem of computing a rigid object trajectory in an environment populated with deformable objects is addressed. The problem arises in Minimally Invasive Robotic Surgery (MIRS) from the needs of reaching a point of interest inside the anatomy with rigid laparoscopic instruments. We address the case of abdominal surgery. The abdomen is a densely populated soft environment and it is not possible to apply classical techniques for obstacle avoidance because a collision free solution is, most of the time, not feasible. In order to have a convergent algorithm with, at least, one possible solution we have to relax the constraints and allow collision under a specific contact threshold to avoid tissue damaging. In this work a new approach for trajectory planning under these peculiar conditions is implemented. The method computes offline the path which is then tested in a surgical simulator as part of a pre-operative surgical plan. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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