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End-effector path planning and collision avoidance for robot-assisted surgery

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Abstract

The limited workspace and potential for collision between the robot arm and surrounding environment are challenges in robotassisted surgery. In robot-assisted surgical procedures, the surgical robot’s end-effector must reach the patient’s anatomical targets without collision with the patient or surrounding instrument. This paper proposes a novel end-effector path planning method for a robot-assisted surgical system. A collision detection and avoidance method was also developed to create a collision-free path to enhance patient safety. The proposed algorithm also addresses how to update the planned path when the patient moves during a surgical procedure. Experimental results showed that the proposed method successfully solves the path planning and collision avoidance problem in robot-guided surgery.

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Authors and Affiliations

  1. Graduate School of Nano IT Design Fusion, Seoul National University of Science and Technology, 232, Gongneung-ro, Nowon-gu, Seoul, 01811, South Korea

    Quoc Cuong Nguyen & HyukDong Kwon

  2. Center for Bionics, Korea Institute of Science and Technology, 5, Hwarang-ro 14-gil, Seongbuk-gu, Seoul, 02792, South Korea

    Youngjun Kim & Sehyung Park

Authors
  1. Quoc Cuong Nguyen
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  2. Youngjun Kim
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  3. Sehyung Park
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  4. HyukDong Kwon
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Corresponding author

Correspondence to HyukDong Kwon.

Additional information

Quoc Cuong Nguyen and Youngjun Kim contributed equally to this work

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Nguyen, Q.C., Kim, Y., Park, S. et al. End-effector path planning and collision avoidance for robot-assisted surgery. Int. J. Precis. Eng. Manuf. 17, 1703–1709 (2016). https://doi.org/10.1007/s12541-016-0197-3

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  • DOI: https://doi.org/10.1007/s12541-016-0197-3

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