Motion planning for flexible needle in multilayer tissue environment with obstacles.
Benyan HuoXingang ZhaoJianda HanWeiliang XuPublished in: SMC (2012)
Keyphrases
- motion planning
- mobile robot
- autonomous mobile robot
- collision free
- degrees of freedom
- path planning
- dynamic environments
- trajectory planning
- manipulation tasks
- robot arm
- configuration space
- soft tissue
- humanoid robot
- autonomous robots
- obstacle avoidance
- robotic tasks
- collision avoidance
- multi robot
- robotic systems
- minimally invasive surgery
- needle insertion
- real time
- robotic arm
- computer vision
- mechanical systems
- multi modal
- three dimensional
- potential field
- machine learning