Motion Planning System for Minimally Invasive Surgery

Minimally invasive procedures are highly effective when performed by well trained surgeons. However, with the subjective nature of surgical training and performance assessment, it is difficult to determine when a trainee surgeon has attained a satisfactory level of competency. We propose a computer-based training and performance assessment system where we apply configuration space based techniques to determine optimal paths for the maneuver of surgical instruments to perform predefined tasks