Motion Planning Under Uncertainty for Image-guided Medical Needle Steering

The International Journal of Robotics Research ◽

10.1177/0278364908097661 ◽

2008 ◽

Vol 27 (11-12) ◽

pp. 1361-1374 ◽

Author(s):

Ron Alterovitz ◽

Michael Branicky ◽

Ken Goldberg

Keyword(s):

Motion Planning ◽

Planning Under Uncertainty ◽

Needle Steering ◽

Image Guided ◽

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Constant-Curvature Motion Planning Under Uncertainty with Applications in Image-Guided Medical Needle Steering

Springer Tracts in Advanced Robotics - Algorithmic Foundation of Robotics VII ◽

10.1007/978-3-540-68405-3_20 ◽

2008 ◽

pp. 319-334 ◽

Author(s):

Ron Alterovitz ◽

Michael Branicky ◽

Ken Goldberg

Keyword(s):

Motion Planning ◽

Constant Curvature ◽

Planning Under Uncertainty ◽

Needle Steering ◽

Image Guided ◽

Curvature Motion ◽

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Motion planning under uncertainty for medical needle steering using optimization in belief space

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems ◽

10.1109/iros.2014.6942795 ◽

2014 ◽

Author(s):

Wen Sun ◽

Ron Alterovitz

Keyword(s):

Motion Planning ◽

Planning Under Uncertainty ◽

Needle Steering ◽

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Image-Guided Observer-Based Control for Needle Steering

IEEE Transactions on Control Systems Technology ◽

10.1109/tcst.2019.2944117 ◽

2020 ◽

Vol 28 (6) ◽

pp. 2673-2680 ◽

Author(s):

Bita Fallahi ◽

Ronald Sloboda ◽

Nawaid Usmani ◽

Mahdi Tavakoli

Keyword(s):

Needle Steering ◽

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Auditory feedback to support image-guided medical needle placement

International Journal of Computer Assisted Radiology and Surgery ◽

10.1007/s11548-017-1537-1 ◽

2017 ◽

Vol 12 (9) ◽

pp. 1655-1663 ◽

Author(s):

David Black ◽

Julian Hettig ◽

Maria Luz ◽

Christian Hansen ◽

Ron Kikinis ◽

...

Keyword(s):

Auditory Feedback ◽

Needle Placement ◽

Image Guided ◽

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The complexity of planar compliant motion planning under uncertainty

Proceedings of the fourth annual symposium on Computational geometry - SCG '88 ◽

10.1145/73393.73425 ◽

1988 ◽

Author(s):

B. R. Donald

Keyword(s):

Motion Planning ◽

Planning Under Uncertainty ◽

Compliant Motion

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Motion Planning for Curvature-Constrained Mobile Robots with Applications to Needle Steering

Springer Tracts in Advanced Robotics - Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures ◽

10.1007/978-3-540-69259-1_5 ◽

2008 ◽

pp. 57-74

Author(s):

Ron Alterovitz ◽

Ken Goldberg

Keyword(s):

Motion Planning ◽

Mobile Robots ◽

Needle Steering

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Motion Planning in Deformable Soft Tissue with Obstacles with Applications to Needle Steering

Springer Tracts in Advanced Robotics - Motion Planning in Medicine: Optimization and Simulation Algorithms for Image-Guided Procedures ◽

10.1007/978-3-540-69259-1_4 ◽

2008 ◽

pp. 45-55

Author(s):

Ron Alterovitz ◽

Ken Goldberg

Keyword(s):

Soft Tissue ◽

Motion Planning ◽

Needle Steering

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Full Order High Gain Observer Design for Image-Guided Robotic Flexible Needle Steering

2019 27th Iranian Conference on Electrical Engineering (ICEE) ◽

10.1109/iraniancee.2019.8786609 ◽

2019 ◽

Author(s):

Karim Davari Benam ◽

H. A Talebi ◽

Mohammad A. Khosravi

Keyword(s):

High Gain ◽

Observer Design ◽

Needle Steering ◽

Image Guided ◽

High Gain Observer

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Sliding-Based Switching Control for Image-Guided Needle Steering in Soft Tissue

IEEE Robotics and Automation Letters ◽

10.1109/lra.2016.2528293 ◽

2016 ◽

Vol 1 (2) ◽

pp. 860-867 ◽

Author(s):

Bita Fallahi ◽

Carlos Rossa ◽

Ron S. Sloboda ◽

Nawaid Usmani ◽

Mahdi Tavakoli

Keyword(s):

Soft Tissue ◽

Switching Control ◽

Needle Steering ◽

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Rapidly-exploring Random Belief Trees for motion planning under uncertainty

2011 IEEE International Conference on Robotics and Automation ◽

10.1109/icra.2011.5980508 ◽

2011 ◽

Author(s):

Adam Bry ◽

Nicholas Roy

Keyword(s):

Motion Planning ◽

Planning Under Uncertainty

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