@inproceedings{36d246b776e0481d9c13144c85410342,
title = "A model of collision-detection for maxillofacial multi-arm surgery robot",
abstract = "A maxillofacial Multi-arm surgery robot is employed to assisting maxillofacial surgery, which can improve surgical precision and reduce surgeons' strain. Thus, the safety during the processing of the surgery is necessary for protecting the patient and preventing the quality of the surgery.This paper presents the development of a collision and self-collision-detection scheme, for Maxillofacial Multi-arm Surgery Robot. The method is based on modeling the arm of Multi-arm robot and the obstacle in surgery environment by simple geometric primitives (cylinders and spheres). Methods of detecting collision about the cylinders and the spheres are introduced. By resorting to the pose of cylinder or sphere which presents in the workspace, many different types of collisions are introduced. The performance of the collision-avoidance scheme is demonstrated with Multi-arm robot via experiments.",
keywords = "Collision Avoidance, Collision Detection, Geometric Primitives, Multi-arm robot",
author = "Zhu, {Xiang Yu} and Duan, {Xing Guang} and Chao Chen and Liu, {Tian Bo} and Guo, {Qing Bo}",
year = "2012",
doi = "10.1109/ICAL.2012.6308136",
language = "English",
isbn = "9781467303620",
series = "IEEE International Conference on Automation and Logistics, ICAL",
pages = "539--544",
booktitle = "2012 IEEE International Conference on Automation and Logistics, ICAL 2012",
note = "2012 IEEE International Conference on Automation and Logistics, ICAL 2012 ; Conference date: 15-08-2012 Through 17-08-2012",
}