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@inproceedings{Cursi:2021:10.1109/IROS51168.2021.9636285,
author = {Cursi, F and Kormushev, P},
doi = {10.1109/IROS51168.2021.9636285},
pages = {4040--4047},
publisher = {IEEE},
title = {Pre-operative offline optimization of insertion point location for safe and accurate surgical task execution},
url = {http://dx.doi.org/10.1109/IROS51168.2021.9636285},
year = {2021}
}
TY - CPAPER
AB - In robotically assisted surgical procedures thesurgical tool is usually inserted in the patient’s body througha small incision, which acts as a constraint for the motionof the robot, known as remote center of Motion (RCM). Thelocation of the insertion point on the patient’s body has hugeeffects on the performances of the surgical robot. In this workwe present an offline pre-operative framework to identify theoptimal insertion point location in order to guarantee accurateand safe surgical task execution. The approach is validatedusing a serial-link manipulator in conjunction with a surgicalrobotic tool to perform a tumor resection task, while avoidingnearby organs. Results show that the framework is capable ofidentifying the best insertion point ensuring high dexterity, hightracking accuracy, and safety in avoiding nearby organs.
AU - Cursi,F
AU - Kormushev,P
DO - 10.1109/IROS51168.2021.9636285
EP - 4047
PB - IEEE
PY - 2021///
SP - 4040
TI - Pre-operative offline optimization of insertion point location for safe and accurate surgical task execution
UR - http://dx.doi.org/10.1109/IROS51168.2021.9636285
UR - https://ieeexplore.ieee.org/abstract/document/9636285
UR - http://hdl.handle.net/10044/1/90150
ER -