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Motion Planning under Uncertainty for Medical Needle Steering Using Optimization in Belief Space
We present an optimization-based motion planner for medical steerable needles that explicitly considers motion and sensing uncertainty while guiding the needle to a target in 3D anatomy. Motion planning for needle steering is challenging because the needle is a nonholonomic and underactuated system,...
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| Publicat a: | IEEE Int Conf Robot Autom |
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| Autors principals: | , |
| Format: | Artigo |
| Idioma: | Inglês |
| Publicat: |
2014
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| Matèries: | |
| Accés en línia: | https://ncbi.nlm.nih.gov/pmc/articles/PMC4469292/ https://ncbi.nlm.nih.gov/pubmed/26097770 https://ncbi.nlm.nih.govhttp://dx.doi.org/10.1109/IROS.2014.6942795 |
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