Path planning under a penetration point constraint for minimally invasive surgery

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.