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Line-Point Constraints and Robot Surgery

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Advances in Robot Kinematics 2022 (ARK 2022)

Part of the book series: Springer Proceedings in Advanced Robotics ((SPAR,volume 24))

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Abstract

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.

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Authors and Affiliations

  1. School of Engineering, London South Bank University, London, SE1 0AA, UK

    J. M. Selig

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  1. J. M. Selig
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Correspondence to J. M. Selig .

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Editors and Affiliations

  1. Faculty of Engineering in Bilbao, University of the Basque Country, Bilbao, Spain

    Oscar Altuzarra

  2. Inst. für Mechatronik und Systemdynamik, University of Duisburg-Essen, Duisburg, Germany

    Andrés Kecskeméthy

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Selig, J.M. (2022). Line-Point Constraints and Robot Surgery. In: Altuzarra, O., Kecskeméthy, A. (eds) Advances in Robot Kinematics 2022. ARK 2022. Springer Proceedings in Advanced Robotics, vol 24. Springer, Cham. https://doi.org/10.1007/978-3-031-08140-8_3

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