Motion planning for mobile surgery assistant.

@article{Pajak2014MotionPF,
  title={Motion planning for mobile surgery assistant.},
  author={Grzegorz Pajak and Iwona Pajak},
  journal={Acta of bioengineering and biomechanics},
  year={2014},
  volume={16 2},
  pages={11-20}
}
The paper presents a method of motion planning for a mobile manipulator acting as a helper providing the necessary tools or a surgery assistant carrying out pre-planned procedures. Mobility of this system makes it possible to reach the position which will give optimal access to the operating field. The path of the end-effector, determined during operation pre-planning, is defined as a curve parameterised by any scaling parameter, the reference trajectory of a mobile platform is not needed. The… CONTINUE READING

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