Contribution to the automatic choice of the best trajectory in surgical robotics

We describe a medical imaging and robot system. The aim of this system is to guide medical and surgical acts. A computer controlled positioning arm is used to introduce a tool in the human body. In stereo- tactic neurosurgery, the surgeon typically has to introduce a probe in the brain [1]. Consequently we present a method to determine the best trajectory in modelized environment with 2-k tree. We consider the target as a source of a wave whose propagation gives the best trajectory. The preliminary results on simulated data are presented. The object if is the determination of the best linear trajectory for the tool introduction: farthest path of the obstacles defined out of hazardous zone.