METHOD FOR DETERMINING INSERTION TRAJECTORY OF TOOL IN DEFORMABLE TISSULAR MATRIX AND ROBOTIC SYSTEM FOR EXECUTING THE METHOD

METHOD FOR DETERMINING INSERTION TRAJECTORY OF TOOL IN DEFORMABLE TISSULAR MATRIX AND ROBOTIC SYSTEM FOR EXECUTING THE METHOD

PROBLEM TO BE SOLVED: To determine an insertion trajectory of a tool for reaching a target object moving in a tissular matrix.SOLUTION: In a method for determining the insertion trajectory of the tool in the tissular matrix, the trajectory (8) of the insertion of the tool into the tissular matrix (9...

Ausführliche Beschreibung

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Bibliographische Detailangaben
Hauptverfasser: SERGE MURAT, SAHBANI ANIS, MOREL GUILLAUME, VANCAMBERG LAURENCE
Format: Patent
Sprache:eng
Schlagworte:
DIAGNOSIS
HUMAN NECESSITIES
HYGIENE
IDENTIFICATION
MEDICAL OR VETERINARY SCIENCE
SURGERY
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Beschreibung
Zusammenfassung:PROBLEM TO BE SOLVED: To determine an insertion trajectory of a tool for reaching a target object moving in a tissular matrix.SOLUTION: In a method for determining the insertion trajectory of the tool in the tissular matrix, the trajectory (8) of the insertion of the tool into the tissular matrix (9) including an obstacle (9o) is determined from a three-dimensional representation of the tissular matrix (9) in consideration of the deformation of the tissular matrix (9) in the insertion of the tool (8) into the tissular matrix (9) by simulation. A robotic system (1) executes the method for determining the insertion trajectory.