Motion Planning Under Uncertainty for Image-guided Medical Needle Steering.
Ron AlterovitzMichael S. BranickyKenneth Y. GoldbergPublished in: Int. J. Robotics Res. (2008)
Keyphrases
- image guided
- planning under uncertainty
- medical imaging
- robotic tasks
- minimally invasive
- prostate biopsy
- robot assisted
- tissue deformation
- ai planning
- markov decision processes
- decision theoretic
- intraoperative
- needle insertion
- medical images
- multi agent
- treatment planning
- prostate cancer
- respiratory motion
- imaging modalities
- x ray
- beating heart
- radiation therapy
- anatomical structures
- dynamical systems
- image sequences
- motion planning
- image analysis
- image processing
- soft tissue
- minimally invasive surgery
- medical image analysis
- image registration
- human motion
- integer programming
- image segmentation
- surgical procedures
- partially observable markov decision processes
- remote sensing