[Positioning path planning for HIFU Surgery Platform application].
Based on the analysis of the workspace and positioning procedure for using the HIFU Surgery Platform, a simplified representation of the tumor volume's location and orientation in the workspace by Positioning Volume Ellipsoid is proposed. The terminal and intermediate configuration which the ultrasound focus must pass through during positioning is determined; according to the decided configurations, a C2 continuous uniform interpolating B spline positioning path is constructed in Lie Group SE (3); and a case analysis is made at last.
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