Line-Point Constraints and Robot Surgery
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.
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.
|Web address (URL)||https://www.springer.com/series/15556|
|Accepted author manuscript|
File Access Level
|30 Jun 2022|
|Publication process dates|
|Accepted||07 Mar 2022|
|Deposited||18 Mar 2022|
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