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The Path-of-Probability Algorithm for Steering and Feedback Control of Flexible Needles

In this paper we develop a new framework for path planning of flexible needles with bevel tips. Based on a stochastic model of needle steering, the probability density function for the needle tip pose is approximated as a Gaussian. The means and covariances are estimated using an error propagation a...

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Hlavní autoři: Park, Wooram, Wang, Yunfeng, Chirikjian, Gregory S.
Médium: Artigo
Jazyk:Inglês
Vydáno: 2010
Témata:
On-line přístup:https://ncbi.nlm.nih.gov/pmc/articles/PMC2998900/
https://ncbi.nlm.nih.gov/pubmed/21151708
https://ncbi.nlm.nih.govhttp://dx.doi.org/10.1177/0278364909357228
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