3D Bevel-Tip Needle Insertion Trajectory Planning via Computational Optimal Control

Manual insertion of flexible bevel-tip needles often leads to unpredictable tissue deformation and compromised targeting accuracy, emphasizing the need for robust trajectory planning. To address this challenge, we formulate the insertion problem as a time-energy optimal control problem (OCP) subject...

Πλήρης περιγραφή

Λεπτομέρειες βιβλιογραφικής εγγραφής

Κύριοι συγγραφείς:	Lijuan Pan, Zhenhui Zhang, Zhuyan Yin, Bai Li
Μορφή:	Artigo
Γλώσσα:	Inglês
Έκδοση:	IEEE 2025-01-01
Σειρά:	IEEE Access
Θέματα:	Bevel-tip needle insertion collision avoidance computational optimal control interior point method nonlinear program trajectory planning
Διαθέσιμο Online:	https://ieeexplore.ieee.org/document/11037735/
Ετικέτες:	Προσθήκη ετικέτας Δεν υπάρχουν, Καταχωρήστε ετικέτα πρώτοι!