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Published in:
2020 | OriginalPaper | Chapter
21. Geometric Computing for Minimal Invasive Surgery
Author : Eduardo Bayro-Corrochano
Published in: Geometric Algebra Applications Vol. II
Publisher: Springer International Publishing
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Abstract
In this chapter, we show the treatment of a variety of tasks of medical robotics handled using a powerful, non-redundant coefficient geometric language. This chapter is based on our previous works [1, 2]. You will see how we can treat the representation and modeling using geometric primitives like points, lines, and spheres. The screw and motors are used for interpolation, grasping, holding, object manipulation, and surgical maneuvering. We use geometric algebra algorithms in three scenarios: the virtual world for surgical planning, the haptic interface to command the robot arms, and the visually guided robot arms system for operation of ultrasound scanning and surgery. Note that in this work, we do not present a complete system for computer-aided surgery, here we illustrate the application of geometric algebra algorithms for some relevant tasks in minimal invasive surgery.