Preoperative Needle Insertion Path Planning for Minimizing Deflection in Multilayered Tissues.
Ryosuke TsumuraJin Seob KimHiroyasu IwataIulian IordachitaPublished in: IEEE Robotics Autom. Lett. (2018)
Keyphrases
- path planning
- needle insertion
- ultrasound guided
- intraoperative
- tissue deformation
- mobile robot
- path planning algorithm
- collision avoidance
- dynamic environments
- multi robot
- medical images
- soft tissue
- motion planning
- optimal path
- x ray
- real time
- pre operative
- multiple robots
- image analysis
- patient data
- configuration space
- interaction model
- collision free
- degrees of freedom
- medical imaging