Dynamic path planning for inserting a steerable needle into soft tissue.
Jianjun WangXiangpeng LiJinjin ZhengDong SunPublished in: ICARCV (2012)
Keyphrases
- path planning
- soft tissue
- dynamic environments
- medical images
- finite element
- collision avoidance
- mobile robot
- magnetic resonance
- path planning algorithm
- collision free
- deformable models
- obstacle avoidance
- multi robot
- needle insertion
- potential field
- soft tissue deformation
- image registration
- maxillofacial surgery
- robot path planning
- optimal path
- motion planning
- automatic segmentation
- minimally invasive surgery
- multiple robots
- degrees of freedom
- path planner
- dynamic and uncertain environments
- autonomous vehicles
- path finding
- search and rescue
- configuration space
- control algorithm