Safe and Fast Path Planner for Minimally Invasive Surgery
Shubhangi Nema,Leena Vachhani,Shubhangi Nema,Leena Vachhani
Path planning of a tool in Minimally Invasive Surgery (MIS) can provide assistance to the surgeons by giving solutions for faster and safe tool movements during the surgery. However, the main challenge in this problem is to address non-uniform tool shape for planning that can change due to the tool’s dexterity. A typical robotic path planning approach by describing the robot’s feasible movements u...
