2 papers
cs.RO2026
Surgical Robot, Path Planning, Joint Space, Riemannian Manifolds
Yoshiki Yamamoto, Maina Sogabe, Shunichi Hirahara +3
Robotic surgery for minimally invasive surgery can reduce the surgeon's workload by autonomously guiding robotic forceps. Movement of the robot is restricted around a fixed inserti…
cs.RO2024
S-RRT*-based Obstacle Avoidance Autonomous Motion Planner for Continuum-rigid Manipulator
Yulin Li, Tetsuro Miyazaki, Yoshiki Yamamoto +1
Continuum robots are compact and flexible, making them suitable for use in the industries and in medical surgeries. Rapidly-exploring random trees (RRT) are a highly efficient path…