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Repository Details
This repository contains a modular control architecture for neurosurgical applications. It builds on top of a well-established component and communication model, with deterministic behavior and supports hard-real-time constraints. At the core of the controller, is a novel analytic inverse kinematics method for serial redundant manipulators capable of uniquely solving the nullspace, avoiding singularities, and joint limits. This method provides the manipulator with the flexibility to adapt to the available workspace, which is shared by the surgery team and by other equipment. The proposed architecture also includes a list of interconnected controllers and supervisor components to perform the different surgical tasks.
