Abstract：According to the task requirement of heavy ion radiotherapy assisted medical manipulator, a collision avoidance
path planning method based on A* algorithm was proposed. The medical manipulator and obstacle model were simplified
according to the indoor environment and obstacle characteristics. By studying the relative pose relationship between each joint
of the manipulator and each obstacle, the condition of collision caused by the motion of the manipulator was analyzed, and the
safe swing space of the medical manipulator was solved. Based on A* algorithm, the collision avoidance path was searched in
the safe swing space of medical manipulator to realize collision avoidance path planning. The simulation results showed that
the collision avoidance path planning method based on A* algorithm is safe and feasible.
乔宇，姚运萍，马利强，杨小龙，陈继鹏，陈惠贤. 重离子放疗辅助医用机械臂避撞路径规划研究[J]. 中国医疗设备, 2019, 34(6): 61-65.
QIAO Yu, YAO Yunping, MA Liqiang, YANG Xiaolong, CHEN Jipeng, CHEN Huixian. Collision Avoidance Path Planning of Medical Manipulator Assisted by Heavy Ion Radiotherapy. China Medical Devices, 2019, 34(6): 61-65.
