Kinematic Design Optimization of a Parallel Surgical Robot to Maximize Anatomical Visibility via Motion Planning

Alan Kuntz, Chris Bowen, Cenk Baykal, Arthur W. Mahoney, Patrick L. Anderson, Fabien Maldonado, Robert J. Webster, Ron Alterovitz. Kinematic Design Optimization of a Parallel Surgical Robot to Maximize Anatomical Visibility via Motion Planning. In 2018 IEEE International Conference on Robotics and Automation, ICRA 2018, Brisbane, Australia, May 21-25, 2018. pages 926-933, IEEE, 2018. [doi]

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