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: CoRR (2021)
Keyphrases
- intraoperative
- brain shift
- path planning
- image guided
- x ray
- computer assisted
- autonomous vehicles
- mobile robot
- path planning algorithm
- brain surface
- pre operative
- unmanned aerial vehicles
- ct data
- minimally invasive
- aerial vehicles
- obstacle avoidance
- motion planning
- patient data
- multi robot
- imaging modalities
- biomechanical model
- control system
- dynamic environments
- trajectory planning
- degrees of freedom
- robot control
- optimal path
- image analysis
- deep brain stimulation
- configuration space
- autonomous systems
- operating room
- position and orientation
- autonomous robots