Position-Based Dynamics Simulator of Brain Deformations for Path Planning and Intra-Operative Control in Keyhole Neurosurgery.
Alice SegatoChiara Di VeceSara ZucchelliMarco Di MarzoThomas WendlerMohammad Farid AzampourStefano GalvanRiccardo SecoliElena De MomiPublished in: IEEE Robotics Autom. Lett. (2021)
Keyphrases
- intraoperative
- brain shift
- path planning
- image guided
- x ray
- computer assisted
- mobile robot
- autonomous vehicles
- pre operative
- path planning algorithm
- aerial vehicles
- dynamic environments
- finite element
- brain surface
- multi robot
- obstacle avoidance
- unmanned aerial vehicles
- biomechanical model
- ct data
- patient data
- imaging modalities
- minimally invasive
- optimal path
- deep brain stimulation
- motion planning
- degrees of freedom
- operating room
- autonomous systems
- control strategy
- control system
- autonomous robots
- trajectory planning
- robotic systems
- computer vision
- deformation field
- collision free