Adaptive path planning for steerable needles using duty-cycling

M.C. Bernardes; B.V. Adorno; P. Poignet; N. Zemiti; G.A. Borges

doi:10.1109/IROS.2011.6048259

Adaptive path planning for steerable needles using duty-cycling

M.C. Bernardes, B.V. Adorno, P. Poignet, N. Zemiti, G.A. Borges

EEE - Academic & Research

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

Abstract

This paper presents an adaptive approach for 2D motion planning of steerable needles. It combines duty-cycled rotation of the needle with the classic Rapidly-Exploring Random Tree (RRT) algorithm to obtain fast calculation of feasible trajectories. The motion planning is used intraoperatively at each cycle to compensate for system uncertainties and perturbations. Simulation results demonstrate the performance of the proposed motion planner on a workspace based on ultrasound images.

Original language	English
Title of host publication	IEEE International Conference on Intelligent Robots and Systems
Pages	2545-2550
Number of pages	6
ISBN (Electronic)	9781612844565
DOIs	https://doi.org/10.1109/IROS.2011.6048259
Publication status	Published - 2011
Event	IEEE/RSJ International Conference on Intelligent Robots and Systems - San Francisco, California, United States Duration: 25 Sept 2011 → 30 Sept 2011

Conference

Conference	IEEE/RSJ International Conference on Intelligent Robots and Systems
Country/Territory	United States
City	San Francisco, California
Period	25/09/11 → 30/09/11

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10.1109/IROS.2011.6048259

Cite this

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title = "Adaptive path planning for steerable needles using duty-cycling",

abstract = "This paper presents an adaptive approach for 2D motion planning of steerable needles. It combines duty-cycled rotation of the needle with the classic Rapidly-Exploring Random Tree (RRT) algorithm to obtain fast calculation of feasible trajectories. The motion planning is used intraoperatively at each cycle to compensate for system uncertainties and perturbations. Simulation results demonstrate the performance of the proposed motion planner on a workspace based on ultrasound images.",

author = "M.C. Bernardes and B.V. Adorno and P. Poignet and N. Zemiti and G.A. Borges",

year = "2011",

doi = "10.1109/IROS.2011.6048259",

language = "English",

isbn = "9781612844541",

pages = "2545--2550",

booktitle = "IEEE International Conference on Intelligent Robots and Systems",

note = "IEEE/RSJ International Conference on Intelligent Robots and Systems ; Conference date: 25-09-2011 Through 30-09-2011",

}

Bernardes, MC, Adorno, BV, Poignet, P, Zemiti, N & Borges, GA 2011, Adaptive path planning for steerable needles using duty-cycling. in IEEE International Conference on Intelligent Robots and Systems. pp. 2545-2550, IEEE/RSJ International Conference on Intelligent Robots and Systems, San Francisco, California, United States, 25/09/11. https://doi.org/10.1109/IROS.2011.6048259

TY - GEN

T1 - Adaptive path planning for steerable needles using duty-cycling

AU - Bernardes, M.C.

AU - Adorno, B.V.

AU - Poignet, P.

AU - Zemiti, N.

AU - Borges, G.A.

PY - 2011

Y1 - 2011

N2 - This paper presents an adaptive approach for 2D motion planning of steerable needles. It combines duty-cycled rotation of the needle with the classic Rapidly-Exploring Random Tree (RRT) algorithm to obtain fast calculation of feasible trajectories. The motion planning is used intraoperatively at each cycle to compensate for system uncertainties and perturbations. Simulation results demonstrate the performance of the proposed motion planner on a workspace based on ultrasound images.

AB - This paper presents an adaptive approach for 2D motion planning of steerable needles. It combines duty-cycled rotation of the needle with the classic Rapidly-Exploring Random Tree (RRT) algorithm to obtain fast calculation of feasible trajectories. The motion planning is used intraoperatively at each cycle to compensate for system uncertainties and perturbations. Simulation results demonstrate the performance of the proposed motion planner on a workspace based on ultrasound images.

U2 - 10.1109/IROS.2011.6048259

DO - 10.1109/IROS.2011.6048259

M3 - Conference contribution

SN - 9781612844541

SP - 2545

EP - 2550

BT - IEEE International Conference on Intelligent Robots and Systems

T2 - IEEE/RSJ International Conference on Intelligent Robots and Systems

Y2 - 25 September 2011 through 30 September 2011

ER -

Adaptive path planning for steerable needles using duty-cycling

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