Collision avoidance in robot assisted surgery

Collision detection and untangling for surgical robotic manipulators

“…A monitoring system for the Zeus surgical manipulator, similar to the one presented in this paper, was also previously developed by Austad et al (6). However, it had several limitations, such as the use of an analytical inverse kinematics algorithm, which made the system specific to the Zeus manipulator, as well as poor performance and accuracy.…”