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A workspace analysis method to support intraoperative trocar placement in minimally invasive robotic surgery (MIRS)

Martin Lohmann, Rainer Konietschke. A workspace analysis method to support intraoperative trocar placement in minimally invasive robotic surgery (MIRS). In Katja Bühler, Hubertus Feussner, Wolfgang Freysinger, Thomas Klenzner, Arya Nabavi, Stefan Weber, editors, 11. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, November 15-16, 2012, Düsseldorf, Germany. pages 139-142, 2012.

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