Titlebook: Advances in Robot Kinematics 2022; Oscar Altuzarra,Andrés Kecskeméthy Conference proceedings 2022 The Editor(s) (if applicable) and The Au

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Advances in Robot Kinematics 2022978-3-031-08140-8Series ISSN 2511-1256 Series E-ISSN 2511-1264

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Data Structures and Simple Algorithmsd to robot surgery where a straight, rigid cannula is inserted into the patient through a trocar. A surgical robot manipulates the cannula so the insertion point is fixed. The space of displacements determined by a pair of these constraints is also studied briefly. This correspond to a pair cannulas with their ends rigidly connected.

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