3D Motion Planning for Flexible Needle Insertion Based on Rapidly-Exploring Random Trees with Environment-Adaptive Sampling and Central Angle Control.
Dong HuaOleg N. GranichinXiaoping ZhangMingyue DingHuageng LiangXuming ZhangPublished in: J. Medical Imaging Health Informatics (2019)
Keyphrases
- adaptive sampling
- needle insertion
- monte carlo
- control charts
- real time
- dynamic environments
- image sequences
- control system
- mobile robot
- autonomous robots
- three dimensional
- process control
- motion estimation
- motion planning
- visual feedback
- optimal control
- robotic systems
- human operators
- mixed initiative
- visual servoing
- interaction model
- motion compensation
- virtual world