Pre-operative Offline Optimization of Insertion Point Location for Safe and Accurate Surgical Task Execution
Francesco Cursi,Petar Kormushev,Francesco Cursi,Petar Kormushev
In robotically assisted surgical procedures the surgical tool is usually inserted in the patient’s body through a small incision, which acts as a constraint for the motion of the robot, known as remote center of Motion (RCM). The location of the insertion point on the patient’s body has huge effects on the performances of the surgical robot. In this work we present an offline pre-operative framewo...
