Rapid Motion Planning for Intracerebral Hemorrhage Evacuation using a Tubular Aspiration Robot
DGR Days (German Society of Robotics), 2016
Abstract
Intracerebral hemorrhage evacuation using a tu-bular aspiration robot enables minimally-invasive surgery. Tosuction out blood from within, a 3D motion plan has to bedetermined prior to evacuation as well as intraoperatively basedon CT images. In this paper, our previously proposed 3D motionplanner is extended by a new objective, such that it allowsfor minimization of traveled distance in configuration space ortraveled Cartesian distance of the tubular aspiration robot.