The space of rigid-body displacements that move a line so that its remains in contact with a fixed point is studied. This constraint variety is related to robot surgery where a straight, rigid cannula is inserted into the patient through a trocar. A surgical robot manipulates the cannula so the insertion point is fixed. The space of displacements determined by a pair of these constraints is also studied briefly. This correspond to a pair cannulas with their ends rigidly connected.
Line-Point Constraints and Robot Surgery
Springer Proceedings in Advanced Robotics
International Symposium on Advances in Robot Kinematics ; 2022 ; Bilbao, Spain June 26, 2022 - June 30, 2022
2022-06-18
8 pages
Aufsatz/Kapitel (Buch)
Elektronische Ressource
Englisch