Sensorless planning for medical needle insertion procedures

Alterovitz, Ron; Goldberg, Ken; Pouliot, Jean; Taschereau, Richard; Hsu, I‐Chow

doi:10.1109/iros.2003.1249671

Cited by 56 publications

(40 citation statements)

References 31 publications

(37 reference statements)

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“…Optimization-based planning has been used for sti, symmetric-tip needles in 2D [19] and 3D [20]. Planners have also been developed to maneuver flexible, bevel-tip steerable needles around obstacles in 2D soft tissue [21]- [26].…”

Section: Related Workmentioning

confidence: 99%

Motion planning for concentric tube robots using mechanics-based models

Торрес¹,

Alterovitz²

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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Concentric tube robots have the potential to enable new minimally invasive surgical procedures by curving around anatomical obstacles to reach difficult-to-reach sites in body cavities. Planning motions for these devices is challenging in part due to their complex kinematics; concentric tube robots are composed of thin, pre-curved, telescoping tubes that can achieve a variety of shapes via extension and rotation of each of their constituent tubes. We introduce a new motion planner to maneuver these devices to clinical targets while minimizing the probability of colliding with anatomical obstacles. Unlike prior planners for these devices, we more accurately model device shape using mechanics-based models that consider torsional interaction between the tubes. We also account for the effects of uncertainty in actuation and predicted device shape. We integrate these models with a sampling-based approach based on the Rapidly-Exploring Roadmap to guarantee finding optimal plans as computation time is allowed to increase. We demonstrate our motion planner in simulation using a variety of evaluation scenarios including an anatomy-based neurosurgery case that requires maneuvering to a difficult-to-reach brain tumor at the skull base.

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Section: Related Workmentioning

confidence: 99%

Motion planning for concentric tube robots using mechanics-based models

Торрес¹,

Alterovitz²

2011

2011 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…The aim of these planners is to compute an optimal configuration for the robot before motion begins based on an objective function. Optimization techniques have been used to account for tissue deformation as a result of needle insertion for stiff, symmetric-tip needles in 2D [3] and in 3D [10]. Alterovitz et al applied this approach to maneuver flexible, bevel-tip steerable needles around obstacles in soft tissues [2].…”

Section: Related Workmentioning

confidence: 99%

Planning active cannula configurations through tubular anatomy

Lyons

Webster

Alterovitz

2010

2010 IEEE International Conference on Robotics and Automation

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Abstract-Medical procedures such as lung biopsy and brachytherapy require maneuvering through tubular structures such as the trachea and bronchi to reach clinical targets. We introduce a new method to plan configurations for active cannulas, medical devices composed of thin, pre-curved, telescoping lumens that are capable of following controlled, curved paths through open or liquid-filled cavities. Planning optimal configurations for these devices is challenging due to their complex kinematics, which involve both beam mechanics and space curves. In this paper, we propose an optimization-based planning algorithm that computes active cannula configurations through tubular structures that reach specified targets. Given the target location, the start position and orientation, and a geometric representation of the physical environment extracted from pre-procedure medical images, the planner optimizes insertion length and orientation angle of each lumen of the active cannula. The planner models active cannula kinematics using a physically-based simulation that incorporates beam mechanics and minimizes energy. The algorithm typically computes plans in less than 2 minutes on a standard PC. We apply the method in simulation to anatomy extracted from a human CT scan and demonstrate configurations for a 5-lumen active cannula that maneuver it through the bronchi to targets in the lung.

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“…Studies on deformable needle steering also consider the path to a robot configuration [11,12] with a focus on local environment deformation and curvature constraints. Our work complements these studies since our task is to determine globally optimal robot paths.…”

Section: Related Workmentioning

confidence: 99%

Homotopic Path Planning on Manifolds for Cabled Mobile Robots

Igarashi

Stilman

2010

Springer Tracts in Advanced Robotics

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We present two path planning algorithms for mobile robots that are connected by cable to a fixed base. Our algorithms efficiently compute the shortest path and control strategy that lead the robot to the target location considering cable length and obstacle interactions. First, we focus on cable-obstacle collisions. We introduce and formally analyze algorithms that build and search an overlapped configuration space manifold. Next, we present an extension that considers cable-robot collisions. All algorithms are experimentally validated using a real robot.

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Sensorless planning for medical needle insertion procedures

Cited by 56 publications

References 31 publications

Motion planning for concentric tube robots using mechanics-based models

Motion planning for concentric tube robots using mechanics-based models

Planning active cannula configurations through tubular anatomy

Homotopic Path Planning on Manifolds for Cabled Mobile Robots

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