Analysis of a moving remote center of motion for robotics-assisted minimally invasive surgery

@article{Pham2015AnalysisOA,
  title={Analysis of a moving remote center of motion for robotics-assisted minimally invasive surgery},
  author={Cong Dung Pham and Fernando Coutinho and Antonio C. Leite and Fernando C. Lizarralde and P{\aa}l Johan From and Rolf Johansson},
  journal={2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2015},
  pages={1440-1446}
}
This paper presents a novel control architecture for controlling a moving remote center of motion in addition to the end-effector motion during robotic surgery. In minimally invasive surgery, it is common to require that the point at which the robot enters the body, called the incision point or the trocar, does not allow for any lateral motion. It is generally considered that no motion should be applied to this point in order to avoid inflicting damage to the patient's skin. However, in surgery… CONTINUE READING
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