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Motion Planning Under Uncertainty for Image-guided Medical Needle Steering
2008
The international journal of robotics research
We develop a new motion planning algorithm for a variant of a Dubins car with binary left/right steering and apply it to steerable needles, a new class of flexible beveltip medical needles that physicians can steer through soft tissue to reach clinical targets inaccessible to traditional stiff needles. Our method explicitly considers uncertainty in needle motion due to patient differences and the difficulty in predicting needle/tissue interaction. The planner computes optimal steering actions
doi:10.1177/0278364908097661
pmid:19890445
pmcid:PMC2772086
fatcat:75m5nfdhhvenleql7pb6fp3qai