Interactive real time reprogramming of surgical robotic tasks operating in changing conditions

Current computer and robot assisted surgery implies a planning and simulation process previous to an intervention. A problem that appears in surgery is the need to eventually change the operating strategy during the intervention, due to unforeseen situations that can appear, or to improve the program developed under some uncertainness. The work developed consists of a system that provides the means of reprogramming the robot trajectory constrains, without the need of technical assistance. The changes can be done by the own surgeon, through gestures and without requiring any specific device