Constant-Curvature Motion Planning Under Uncertainty with Applications in Image-Guided Medical Needle Steering.
Ron AlterovitzMichael S. BranickyKenneth Y. GoldbergPublished in: WAFR (2006)
Keyphrases
- image guided
- planning under uncertainty
- medical imaging
- minimally invasive
- constant curvature
- prostate biopsy
- tissue deformation
- decision theoretic
- intraoperative
- ai planning
- markov decision processes
- imaging modalities
- needle insertion
- prostate cancer
- medical images
- x ray
- dynamical systems
- image registration
- human motion
- image sequences
- medical image analysis
- image segmentation
- optical flow
- circular arcs
- computer assisted
- medical data
- image analysis
- anatomical structures
- magnetic resonance imaging
- multi agent
- euclidean space
- shape analysis
- image data
- motion planning
- computer vision
- radiation therapy
- image processing