Path planning for flexible needles using second order error propagation

DOI10.1007/978-3-642-00312-7_36MaRDI QIDQ3079503zbMATH OpenOpenAlexFDO

Authors Wooram Park, Yunfeng Wang, Gregory S. Chirikjian

Publication date 2 March 2011

Published in Springer Tracts in Advanced Robotics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/978-3-642-00312-7_36

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85)

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(6)

• Geometric control of 3D needle steering in soft-tissue
• Dynamic path planning for bevel-tip flexible needle insertion into soft tissue based on a real-time finite element model
• Visiting a sequence of points with a bevel-tip needle
• Constant-curvature motion planning under uncertainty with applications in image-guided medical needle steering
• LQG-based planning, sensing, and control of steerable needles
• A new path planning method for bevel-tip flexible needle insertion in 3D space with multiple targets and obstacles

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