Path planning for steerable needles using duty-cycled spinning
This paper presents an adaptive approach for 2D path planning of steerable needles. It combines dutycycled rotation of the needle with the classic RapidlyExploring Random Tree (RRT) algorithm and it is used intraoperatively to compensate for system uncertainties and perturbations. Simulation results...
| Main Authors: | , , , , |
|---|---|
| Format: | Article |
| Language: | English |
| Published: |
EDP Sciences
2011-12-01
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| Series: | BIO Web of Conferences |
| Online Access: | http://dx.doi.org/10.1051/bioconf/20110100010 |