Motion Planning Under Uncertainty for Image-guided Medical Needle Steering
نویسندگان
چکیده
منابع مشابه
Motion Planning Under Uncertainty for Image-guided Medical Needle Steering
We develop a new motion planning algorithm for a variant of a Dubins car with binary left/right steering and apply it to steerable needles, a new class of flexible bevel-tip medical needles that physicians can steer through soft tissue to reach clinical targets inaccessible to traditional stiff needles. Our method explicitly considers uncertainty in needle motion due to patient differences and ...
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We consider a variant of nonholonomic motion planning for a Dubins car with no reversals, binary left/right steering, and uncertainty in motion direction. We apply our new motion planner to steerable needles, a new class of flexible bevel-tip medical needles that clinicians can steer through soft tissue to reach targets inaccessible to traditional stiff needles. Our method explicitly considers ...
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This chapter describes how advances in needle design, modeling, planning, and image guidance make it possible to steer flexible needles from outside the body to reach specified anatomical targets not accessible using traditional needle insertion methods. Steering can be achieved using a variety of mechanisms, including tip-based steering, lateral manipulation, and applying forces to the tissue ...
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Minimally invasive medical procedures such as biopsies, anesthesia drug injections, and brachytherapy cancer treatments require inserting a needle to a specific target inside soft tissue. This is difficult because needle insertion displaces and deforms the surrounding soft tissue causing the target to move during the procedure. To facilitate physician training and pre-operative planning for the...
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ژورنال
عنوان ژورنال: The International Journal of Robotics Research
سال: 2008
ISSN: 0278-3649,1741-3176
DOI: 10.1177/0278364908097661