Chapter 13: Neural network-enhanced optimal motion planning for robot manipulation under remote center of motion
Hang Sua; Chenguang Yangb aDipartimento di Elettronica, Informazione e Bioingegneria, Politecnico di Milano, Milano, ItalybBristol Robotics Laboratory, University of the West of England, Bristol, United Kingdom
Abstract
As an unavoidable challenge in the face of robot-assisted minimally invasive surgery (RAMIS), the kinematic constraint of the remote center of motion (RCM) during surgical operations has received wide concern in the past recent years. To realize a flexible manipulation with RCM constraint, researchers have proposed many different solutions. However, only a few studies can deal with the problem in an independent workspace, ...
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