Dynamic Motion Planning for Autonomous Assistive Surgical Robots

The paper addresses the problem of generation of collision-free trajectories for a robotic manipulator, operating in a scenario in which obstacles may be moving at non-negligible velocities. In particular, the paper aims to present a trajectory generation solution that is fully executable in real-time and that can reactively adapt to both dynamic changes of the environment and fast reconfiguration of the robotic task. The proposed motion planner extends the method based on Dynamical System to cope with the peculiar kinematics of surgical robots for laparoscopic operations, being the mechanical constraint enforced by the fixed point of insertion into the abdomen of the patient the most challenging aspect. The paper includes a validation of the trajectory generator in an experimental scenarios.