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Robot-assisted systems have been developed for minimally invasive surgical procedures, which bring tremendous benefits for patients, such as less trauma, less bleeding, and shorter recovery time. Among the contemporary surgical robotic manipulators, flexible serpentine manipulator shows great advantages on operating with complicated nonlinear anatomical constraints, and it can reach deep occluded...
Flexible serpentine manipulators are widely used in surgical robots as it can be operated inside the patient's body cavity by backbone bending. However, during the bending the manipulator sweeps over a region, where sensitive organs may locate. This raises the safety concern. In this paper, a motion planning algorithm focusing on minimize the sweeping area for flexible serpentine manipulators is presented...
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