Path planning for steerable needles using duty-cycled spinning

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...

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Bibliographic Details
Main Authors: Borges G.A., Zemiti N., Poignet P., Adorno B.V., Bernardes M.C.
Format: Article
Language:English
Published: EDP Sciences 2011-12-01
Series:BIO Web of Conferences
Online Access:http://dx.doi.org/10.1051/bioconf/20110100010
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spelling doaj-892c8735965f46588e9cd7798170760d2021-04-02T19:40:34ZengEDP SciencesBIO Web of Conferences2117-44582011-12-0110001010.1051/bioconf/20110100010Path planning for steerable needles using duty-cycled spinningBorges G.A.Zemiti N.Poignet P.Adorno B.V.Bernardes M.C.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 demonstrate the performance of the proposed motion planner on a workspace based in ultrasound images.http://dx.doi.org/10.1051/bioconf/20110100010
collection DOAJ
language English
format Article
sources DOAJ
author Borges G.A.
Zemiti N.
Poignet P.
Adorno B.V.
Bernardes M.C.
spellingShingle Borges G.A.
Zemiti N.
Poignet P.
Adorno B.V.
Bernardes M.C.
Path planning for steerable needles using duty-cycled spinning
BIO Web of Conferences
author_facet Borges G.A.
Zemiti N.
Poignet P.
Adorno B.V.
Bernardes M.C.
author_sort Borges G.A.
title Path planning for steerable needles using duty-cycled spinning
title_short Path planning for steerable needles using duty-cycled spinning
title_full Path planning for steerable needles using duty-cycled spinning
title_fullStr Path planning for steerable needles using duty-cycled spinning
title_full_unstemmed Path planning for steerable needles using duty-cycled spinning
title_sort path planning for steerable needles using duty-cycled spinning
publisher EDP Sciences
series BIO Web of Conferences
issn 2117-4458
publishDate 2011-12-01
description 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 demonstrate the performance of the proposed motion planner on a workspace based in ultrasound images.
url http://dx.doi.org/10.1051/bioconf/20110100010
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AT poignetp pathplanningforsteerableneedlesusingdutycycledspinning
AT adornobv pathplanningforsteerableneedlesusingdutycycledspinning
AT bernardesmc pathplanningforsteerableneedlesusingdutycycledspinning
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