Abstract
The space of rigid-body displacements that move a line so that its remains in contact with a fixed point is studied. This constraint variety is related to robot surgery where a straight, rigid cannula is inserted into the patient through a trocar. A surgical robot manipulates the cannula so the insertion point is fixed. The space of displacements determined by a pair of these constraints is also studied briefly. This correspond to a pair cannulas with their ends rigidly connected.
| Original language | English |
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| Publication status | Published - 30 Jun 2022 |
| Externally published | Yes |
| Event | 18th International Symposium on Advances in Robot Kinematics - Duration: 30 Jun 2022 → … |
Conference
| Conference | 18th International Symposium on Advances in Robot Kinematics |
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| Period | 30/06/22 → … |