Technical realization of the optimal motion planning method for minimally invasive surgery

2012 ◽  
Author(s):  
Jan Nikodem ◽  
George Hwang ◽  
Jerzy W. Rozenblit ◽  
Liana Napalkova ◽  
Piotr Czapiewski
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Motion Planning ◽  
Invasive Surgery ◽  
Planning Method ◽  
Optimal Motion ◽  
Technical Realization ◽  
Optimal Motion Planning

Energy-optimal motion planning of a biped pole-climbing robot with kinodynamic constraints

2018 ◽  
Vol 45 (3) ◽  
pp. 343-353 ◽  
Author(s):  
Xuefeng Zhou ◽  
Li Jiang ◽  
Yisheng Guan ◽  
Haifei Zhu ◽  
Dan Huang ◽  
...  
Keyword(s):  
Motion Planning ◽  
Optimal Path ◽  
Planning Method ◽  
Outdoor Environment ◽  
Planning Problem ◽  
Climbing Robot ◽  
Optimal Motion ◽  
Climbing Robots ◽  
Content Type ◽  
Optimal Motion Planning

Purpose Applications of robotic systems in agriculture, forestry and high-altitude work will enter a new and huge stage in the near future. For these application fields, climbing robots have attracted much attention and have become one central topic in robotic research. The purpose of this paper is to propose an energy-optimal motion planning method for climbing robots that are applied in an outdoor environment. Design/methodology/approach First, a self-designed climbing robot named Climbot is briefly introduced. Then, an energy-optimal motion planning method is proposed for Climbot with simultaneous consideration of kinematic constraints and dynamic constraints. To decrease computing complexity, an acceleration continuous trajectory planner and a path planner based on spatial continuous curve are designed. Simulation and experimental results indicate that this method can search an energy-optimal path effectively. Findings Climbot can evidently reduce energy consumption when it moves along the energy-optimal path derived by the method used in this paper. Research limitations/implications Only one step climbing motion planning is considered in this method. Practical implications With the proposed motion planning method, climbing robots applied in an outdoor environment can commit more missions with limit power supply. In addition, it is also proved that this motion planning method is effective in a complicated obstacle environment with collision-free constraint. Originality/value The main contribution of this paper is that it establishes a two-planner system to solve the complex motion planning problem with kinodynamic constraints.

An optimal motion planning method for computer-assisted surgical training

2014 ◽  
Vol 24 ◽  
pp. 889-899 ◽  
Author(s):  
Liana Napalkova ◽  
Jerzy W. Rozenblit ◽  
George Hwang ◽  
Allan J. Hamilton ◽  
Liana Suantak
Keyword(s):  
Motion Planning ◽  
Surgical Training ◽  
Planning Method ◽  
Computer Assisted ◽  
Optimal Motion ◽  
Optimal Motion Planning

V1695: Minimizing Minimally Invasive Surgery: the Three Port Robotic Pyeloplasty

2004 ◽  
Vol 171 (4S) ◽  
pp. 448-448
Author(s):  
Farjaad M. Siddiq ◽  
Patrick Villicana ◽  
Raymond J. Leveillee
Keyword(s):  
Minimally Invasive Surgery ◽  
Minimally Invasive ◽  
Invasive Surgery ◽  
Robotic Pyeloplasty
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