Rapid Motion Planning for Intracerebral Hemorrhage Evacuation using a Tubular Aspiration Robot

Granna, Josephine; Vornehm, Yannick; Fellmann, Carolin; Burgner-Kahrs, Jessica
DGR Days (German Society of Robotics), 2016
Rapid Motion Planning for Intracerebral Hemorrhage Evacuation using a Tubular Aspiration Robot

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.

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