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Inspection planning, the task of planning motions that allow a robot to inspect a set of points of interest, has applications in domains such as industrial, field, and medical robotics. Inspection planning can be computationally challenging, as the search space over motion plans grows exponentially with the number of points of interest to inspect. We propose a novel method, Incremental Random Inspection-roadmap Search (IRIS), that computes inspection plans whose length and set of successfully inspected points asymptotically converge to those of an optimal inspection plan. IRIS incrementally densifies a motion-planning roadmap using a sampling-based algorithm, and performs efficient near-optimal graph search over the resulting roadmap as it is generated. We demonstrate IRIS's efficacy on a simulated planar 5DOF manipulator inspection task and on a medical endoscopic inspection task for a continuum parallel surgical robot in cluttered anatomy segmented from patient CT data. We show that IRIS computes higher-quality inspection plans orders of magnitudes faster than a prior state-of-the-art method.

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Lung cancer is the deadliest form of cancer, and early diagnosis is critical to favorable survival rates. Definitive diagnosis of lung cancer typically requires needle biopsy. Common lung nodule biopsy approaches either carry significant risk or are incapable of accessing large regions of the lung, such as in the periphery. Deploying a steerable needle from a bronchoscope and steering through the lung allows for safe biopsy while improving the accessibility of lung nodules in the lung periphery. In this work, we present a method for extracting a cost map automatically from pulmonary CT images, and utilizing the cost map to efficiently plan safe motions for a steerable needle through the lung. The cost map encodes obstacles that should be avoided, such as the lung pleura, bronchial tubes, and large blood vessels, and additionally formulates a cost for the rest of the lung which corresponds to an approximate likelihood that a blood vessel exists at each location in the anatomy. We then present a motion planning approach that utilizes the cost map to generate paths that minimize accumulated cost while safely reaching a goal location in the lung.

Established reference intervals (RIs) of coagulation parameters generally based on the general population are not applicable to specific women. In order to accurately evaluate the coagulation status of non-pregnant women and pregnant women, specific RIs should be established. Our study recruited 465 non-pregnant women and 1972 pregnant women aged 20–45 years. Eight tests including antithrombin (AT), protein C (PC), free protein S (fPS), lupus anticoagulant (LA), D-dimer, fibrin/fibrinogen degradation products (FDP), coagulation factor VII (FVII), and factor VIII (FVIII) were performed on ACL TOP automated coagulation instrument. The RIs for these tests were established in non-pregnant and pregnant women at different gestational weeks. Compared to the non-pregnant group, the medians of AT and fPS were lower, while the medians of PC, LA normalized ratio, D-dimer, FDP, FVII, and FVIII were higher. During pregnancy, AT and fPS activity showed a decreasing trend, with the increase of gestational age. PC activity, LA normalized ratio, D-dimer concentrations, FDP concentrations, FVII, and FVIII activity presented an increasing trend, with the increase of gestational age. The non-pregnant women-specific RIs and the gestational age-specific RIs of AT, PC, fPS, LA normalized ratio, D-dimer, FDP, FVII, and FVIII needed to be established for accurate clinical diagnoses.