Interactive simulation of surgical needle insertion and steering
ACM SIGGRAPH 2009 papers
Guiding medical needles using single-point tissue manipulation
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Three-dimensional Motion Planning Algorithms for Steerable Needles Using Inverse Kinematics
International Journal of Robotics Research
Models and techniques for computer aided surgical training
EUROCAST'11 Proceedings of the 13th international conference on Computer Aided Systems Theory - Volume Part II
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The monograph written by Ron Alterovitz and Ken Goldberg combines ideas from robotics, physically-based modeling, and operations research to develop new motion planning and optimization algorithms for image-guided medical procedures. A challenge clinicians commonly face is compensating for errors caused by soft tissue deformations that occur when imaging devices or surgical tools physically contact soft tissue. A number of methods are presented which can be applied to a variety of medical procedures, from biopsies to anaesthesia injections to radiation cancer treatment. They can also be extended to address problems outside the context of medical robotics, includingnonholonomic motion planning for mobile robots in field or manufacturing environments.