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A motion planning approach to automatic obstacle avoidance during concentric tube robot teleoperation
2015
2015 IEEE International Conference on Robotics and Automation (ICRA)
Concentric tube robots are thin, tentacle-like devices that can move along curved paths and can potentially enable new, less invasive surgical procedures. Safe and effective operation of this type of robot requires that the robot's shaft avoid sensitive anatomical structures (e.g., critical vessels and organs) while the surgeon teleoperates the robot's tip. However, the robot's unintuitive kinematics makes it difficult for a human user to manually ensure obstacle avoidance along the entire
doi:10.1109/icra.2015.7139513
pmid:26413381
pmcid:PMC4578310
dblp:conf/icra/TorresKGSHWA15
fatcat:qvtsg6k53bb4bkitjpy53c36um