Line-Point Constraints and Robot Surgery
Conference paper
Selig, J.M. (2022). Line-Point Constraints and Robot Surgery. 18th International Symposium on Advances in Robot Kinematics. Bilbao, Spain 30 Mar - 26 Jun 2022 Springer.
Authors | Selig, J.M. |
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Type | Conference paper |
Abstract | The space of rigid-body displacements that move a line so that its remains in contact with a fixed point is studied. This constraint variety is related to robot surgery where a straight, rigid cannula is inserted into the patient through a trocar. A surgical robot manipulates the cannula so the insertion point is fixed. The space of displacements determined by a pair of these constraints is also studied briefly. This correspond to a pair cannulas with their ends rigidly connected. |
Year | 2022 |
Publisher | Springer |
Web address (URL) | https://www.springer.com/series/15556 |
Accepted author manuscript | License File Access Level Open |
Publication dates | |
30 Jun 2022 | |
Publication process dates | |
Accepted | 07 Mar 2022 |
Deposited | 18 Mar 2022 |
Permalink -
https://openresearch.lsbu.ac.uk/item/8z71y
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