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- W2153435726 abstract "This paper deals with a path planning algorithm for an anthropomorphic robot that must achieve motions (straight line, circle, helix) under the constraint of passing the forearm through a fixed point. This point simulates the penetration point (trocar) in minimally invasive surgery. It has to remain fixed with respect to the patient's body. The modeling and resolution of the constraint are presented. The geometric model and path planning are proposed. Simulation results validate the algorithm." @default.
- W2153435726 created "2016-06-24" @default.
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- W2153435726 date "2003-06-25" @default.
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- W2153435726 title "Path planning under a penetration point constraint for minimally invasive surgery" @default.
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- W2153435726 doi "https://doi.org/10.1109/irds.2002.1043963" @default.
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