Path planning under a penetration point constraint for minimally invasive surgery

摘要

This paper deals with a path planning algorithm for an anthropomorphic robot that must achieve motions (straight line, circle, helix) under the constraint of passing the forearm through a fixed point. This point simulates the penetration point (trocar) in minimally invasive surgery. It has to remain fixed with respect to the patient's body. The modeling and resolution of the constraint are presented. The geometric model and path planning are proposed. Simulation results validate the algorithm.